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At least 955 records · Page 53
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Semigroup approximation and robust stabilization of distributed parameter systems

Theoretical results that enable rigorous statements of convergence and exponential stability of Galerkin approximations of LQR controls for infinite dimensional, or distributed parameter, systems have proliferated over the past ten years. In addition, extensive progress has been made over the same time period in the derivation of robust control design strategies for finite dimensional systems. However, the study of the convergence of robust finite dimensional controllers to robust controllers for infinite dimensional systems remains an active area of research. We consider a class of soft-constrained differential games evolving in a Hilbert space. Under certain conditions, a saddle point control can be given in feedback form in terms of a solution to a Riccati equation. By considering a related LQR problem, we can show a convergence result for finite dimensional approximations of this differential game. This yields a computational algorithm for the feedback gain that can be derived from similar strategies employed in infinite dimensional LQR control design problems. The approach described in this paper also inherits the additional properties of stability robustness common to game theoretic methods in finite dimensional analysis. These theoretical convergence and stability results are verified in several numerical experiments.

Kurdila, A. J.↗
NASA NTRS2014

Output Feedback M-MRAC Backstepping With Aerospace Applications

The paper presents a certainty equivalence output feedback backstepping adaptive control design method for the systems of any relative degree with unmatched uncertainties without over-parametrization. It uses a fast prediction model to estimate the unknown parameters, which is independent of the control design. It is shown that the system's input and output tracking errors can be systematically decreased by the proper choice of the design parameters. The approach is applied to aerospace control problems and tested in numerical simulations.

Output feedback adaptive control↗
NASA NTRS1993

Supervisory autonomous local-remote control system design: Near-term and far-term applications

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

Zimmerman, Wayne↗
NASA NTRS1991

Predictive control and estimation algorithms for the NASA/JPL 70-meter antennas

A modified output prediction procedure and a new controller design is presented based on the predictive control law. Also, a new predictive estimator is developed to complement the controller and to enhance system performance. The predictive controller is designed and applied to the tracking control of the Deep Space Network 70 m antennas. Simulation results show significant improvement in tracking performance over the linear quadratic controller and estimator presently in use.

Gawronski, W.↗
NASA NTRS1993

Simulation of linear mechanical systems

A dynamics and controls analyst is typically presented with a structural dynamics model and must perform various input/output tests and design control laws. The required time/frequency simulations need to be done many times as models change and control designs evolve. This paper examines some simple ways that open and closed loop frequency and time domain simulations can be done using the special structure of the system equations usually available. Routines were developed to run under Pro-Matlab in a mixture of the Pro-Matlab interpreter and FORTRAN (using the .mex facility). These routines are often orders of magnitude faster than trying the typical 'brute force' approach of using built-in Pro-Matlab routines such as bode. This makes the analyst's job easier since not only does an individual run take less time, but much larger models can be attacked, often allowing the whole model reduction step to be eliminated.

Sirlin, S. W.↗
NASA NTRS1994

Designing robust control laws using genetic algorithms

The purpose of this research is to create a method of finding practical, robust control laws. The robustness of a controller is judged by Stochastic Robustness metrics and the level of robustness is optimized by searching for design parameters that minimize a robustness cost function.

Marrison, Chris↗
NASA NTRS1997

United States Control Module Guidance, Navigation, and Control Subsystem Design Concept

Should the Russian Space Agency (RSA) not participate in the International Space Station (ISS) program, then the United States (U.S.) National Aeronautics and Space Administration (NASA) may choose to execute the ISS mission. However, in order to do this, NASA must build two new space vehicles, which must perform the functions that the Russian vehicles and hardware were to perform. These functions include periodic ISS orbit reboost, initial ISS attitude control, and U.S. On-Orbit Segment (USOS) control Moment gyroscope (CMG) momentum desaturation. The two new NASA vehicles that must perform these functions are called the U.S. control module (USCM) and the U.S. resupply module. This paper presents a design concept for the USCM GN&C subsystem, which must play a major role in ISS orbit reboost and initial attitude control, plus USOS CMG momentum desaturation. The proposed concept is structured similar to the USOS GN&C subsystem, by design. It is very robust, in that it allows the USCM to assume a variety of vehicle attitudes and stay power-positive. It has a storage/safe mode that places the USCM in a gravity-gradient orientation and keeps it there for extended periods of time without consuming a great deal of propellant. Simulation results are presented and discussed that show the soundness of the design approach. An equipment list is included that gives detailed information on the baselined GN&C components.

Polites, M. E.↗
NASA NTRS1994

Cabin fuselage structural design with engine installation and control system

Design requirements for the cabin, cabin system, flight controls, engine installation, and wing-fuselage interface that provide adequate interior volume for occupant seating, cabin ingress and egress, and safety are presented. The fuselage structure must be sufficient to meet the loadings specified in the appropriate sections of Federal Aviation Regulation Part 23. The critical structure must provide a safe life of 10(exp 6) load cycles and 10,000 operational mission cycles. The cabin seating and controls must provide adjustment to account for various pilot physiques and to aid in maintenance and operation of the aircraft. Seats and doors shall not bind or lockup under normal operation. Cabin systems such as heating and ventilation, electrical, lighting, intercom, and avionics must be included in the design. The control system will consist of ailerons, elevator, and rudders. The system must provide required deflections with a combination of push rods, bell cranks, pulleys, and linkages. The system will be free from slack and provide smooth operation without binding. Environmental considerations include variations in temperature and atmospheric pressure, protection against sand, dust, rain, humidity, ice, snow, salt/fog atmosphere, wind and gusts, and shock and vibration. The following design goals were set to meet the requirements of the statement of work: safety, performance, manufacturing and cost. To prevent the engine from penetrating the passenger area in the event of a crash was the primary safety concern. Weight and the fuselage aerodynamics were the primary performance concerns. Commonality and ease of manufacturing were major considerations to reduce cost.

Balakrishnan, Tanapaal↗
NASA NTRS2002

MAP Attitude Control System Design and Flight Performance

The Microwave Anisotropy Probe (MAP) is a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE) spacecraft. To make a full-sky map of cosmic microwave background fluctuations, a combination fast spin and slow precession motion will be used that will cover the entire celestial sphere in six months. The spin rate should be an order of magnitude higher than the precession rate, and each rate should be tightly controlled. The sunline angle should be 22.5 +/- 0.25 deg. Sufficient attitude knowledge must be provided to yield instrument pointing to a standard deviation of 1.3 arc-minutes RSS three axes. In addition, the spacecraft must be able to acquire and hold the sunline at initial acquisition, and in the event of a failure. Finally. the spacecraft must be able to slew to the proper burn orientations and to the proper off-sunline attitude to start the compound spin. The design and flight performance of the Attitude Control System on MAP that meets these requirements will be discussed.

Andrews, S. F.↗
NASA NTRS1989

Decentralized control of the COFS-I Mast using linear dc motors

Consideration is given to a decentralized control design for vibration suppression in the COFS-I Mast using linear dc motors for actuators. The decentralized control design is based results from power systems using root locus techniques that are not well known. The approach is effective because the loop gain is low due to low actuator authority. The frequency-dependent nonlinearities of the actuator are taken into account. Because of the tendency of the transients to saturate the the stroke length of the actuator, its effectiveness is limited.

Lindner, Douglas K.↗
NASA NTRS1991

Centralized, decentralized, and independent control of a flexible manipulator on a flexible base

The dynamics and control of a flexible manipulator arm with payload mass on a flexible base in space are considered. The controllers are provided by one torquer at the center of the base and one torquer at the connection joint of the robot and the base. The nonlinear dynamics of the system is modeled by applying the finite element method and Lagrangian formula. Three control strategies are considered and compared, i.e., centralized control, decentralized control, and independent control. All these control designs are based on the linear quadratic regulator theory. A mathematical decomposition is used in the decentralization process so that the coupling between the subsystems is weak, while a physical decomposition is used in the independent control design process. For both the decentralized and the independent controls, the stability of the overall linear system is checked before a numerical simulations is initiated. Two numerical examples show that the response of the independent control system are close to those of the centralized control system, while the responses of the decentralized control system are not.

Li, Feiyue↗
NASA NTRS2002

Designing Crane Controls with Applied Mechanical and Electrical Safety Features

The use of overhead traveling bridge cranes in many varied applications is common practice. In particular, the use of cranes in the nuclear, military, commercial, aerospace, and other industries can involve safety critical situations. Considerations for Human Injury or Casualty, Loss of Assets, Endangering the Environment, or Economic Reduction must be addressed. Traditionally, in order to achieve additional safety in these applications, mechanical systems have been augmented with a variety of devices. These devices assure that a mechanical component failure shall reduce the risk of a catastrophic loss of the correct and/or safe load carrying capability. ASME NOG-1-1998, (Rules for Construction of Overhead and Gantry Cranes, Top Running Bridge, and Multiple Girder), provides design standards for cranes in safety critical areas. Over and above the minimum safety requirements of todays design standards, users struggle with obtaining a higher degree of reliability through more precise functional specifications while attempting to provide "smart" safety systems. Electrical control systems also may be equipped with protective devices similar to the mechanical design features. Demands for improvement of the cranes "control system" is often recognized, but difficult to quantify for this traditionally "mechanically" oriented market. Finite details for each operation must be examined and understood. As an example, load drift (or small motions) at close tolerances can be unacceptable (and considered critical). To meet these high functional demands encoders and other devices are independently added to control systems to provide motion and velocity feedback to the control drive. This paper will examine the implementation of Programmable Electronic Systems (PES). PES is a term this paper will use to describe any control system utilizing any programmable electronic device such as Programmable Logic Controllers (PLC), or an Adjustable Frequency Drive (AID) 'smart' programmable motion controller. Therefore the use of the term Programmable Electronic Systems (PES) is an encompassing description for a large spectrum of programmable electronic control devices.

Lytle, Bradford P.↗
NASA NTRS1991

Neural Architectures for Control

The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs.

Peterson, James K.↗
DOE OSTI2024

Robust PID Control Against Nonlinear Uncertainties in Modern Power Systems with Microgrids

This paper investigates the problem of robust PID control for nonlinear power systems with uncertainties. In this paper, we analyze the challenges posed by nonlinearities and uncertainties in power systems, as well as the limitations of traditional linearization methods. On this basis, a PID control design method is proposed, which utilizes only the Lipschitz constant information of the nonlinear uncertainties to achieve global stability control for the power systems. The paper provides a rigorous mathematical foundation to demonstrate the effectiveness and robustness of the controller. Finally, simulation studies are conducted to validate and evaluate the performance of the proposed model, algorithm, and controller design.

Yuan, Shuo↗
NASA NTRS1991

Experimental study of adaptive pointing and tracking for large flexible space structures

This paper describes an experimental study of adaptive pointing and tracking control for flexible spacecraft conducted on a complex ground experiment facility. The algorithm used in this study is based on a multivariable direct model reference adaptive control law. Several experimental validation studies were performed earlier using this algorithm for vibration damping and robust regulation, with excellent results. The current work extends previous studies by addressing the pointing and tracking problem. As is consistent with an adaptive control framework, the plant is assumed to be poorly known to the extent that only system level knowledge of its dynamics is available. Explicit bounds on the steady-state pointing error are derived as functions of the adaptive controller design parameters. It is shown that good tracking performance can be achieved in an experimental setting by adjusting adaptive controller design weightings according to the guidelines indicated by the analytical expressions for the error.

Boussalis, D.↗
NASA NTRS1994

Distributed parameter modelling of flexible spacecraft: Where's the beef?

This presentation discusses various misgivings concerning the directions and productivity of Distributed Parameter System (DPS) theory as applied to spacecraft vibration control. We try to show the need for greater cross-fertilization between DPS theorists and spacecraft control designers. We recommend a shift in research directions toward exploration of asymptotic frequency response characteristics of critical importance to control designers.

Hyland, D. C.↗