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NASA NTRS2009

Implementation of an Adaptive Controller System from Concept to Flight Test

The National Aeronautics and Space Administration Dryden Flight Research Center (Edwards, California) is conducting ongoing flight research using adaptive controller algorithms. A highly modified McDonnell-Douglas NF-15B airplane called the F-15 Intelligent Flight Control System (IFCS) is used to test and develop these algorithms. Modifications to this airplane include adding canards and changing the flight control systems to interface a single-string research controller processor for neural network algorithms. Research goals include demonstration of revolutionary control approaches that can efficiently optimize aircraft performance in both normal and failure conditions and advancement of neural-network-based flight control technology for new aerospace system designs. This report presents an overview of the processes utilized to develop adaptive controller algorithms during a flight-test program, including a description of initial adaptive controller concepts and a discussion of modeling formulation and performance testing. Design finalization led to integration with the system interfaces, verification of the software, validation of the hardware to the requirements, design of failure detection, development of safety limiters to minimize the effect of erroneous neural network commands, and creation of flight test control room displays to maximize human situational awareness; these are also discussed.

Larson, Richard R.↗

NASA NTRS2009

Methodologies for Adaptive Flight Envelope Estimation and Protection

This paper reports the latest development of several techniques for adaptive flight envelope estimation and protection system for aircraft under damage upset conditions. Through the integration of advanced fault detection algorithms, real-time system identification of the damage/faulted aircraft and flight envelop estimation, real-time decision support can be executed autonomously for improving damage tolerance and flight recoverability. Particularly, a bank of adaptive nonlinear fault detection and isolation estimators were developed for flight control actuator faults; a real-time system identification method was developed for assessing the dynamics and performance limitation of impaired aircraft; online learning neural networks were used to approximate selected aircraft dynamics which were then inverted to estimate command margins. As off-line training of network weights is not required, the method has the advantage of adapting to varying flight conditions and different vehicle configurations. The key benefit of the envelope estimation and protection system is that it allows the aircraft to fly close to its limit boundary by constantly updating the controller command limits during flight. The developed techniques were demonstrated on NASA s Generic Transport Model (GTM) simulation environments with simulated actuator faults. Simulation results and remarks on future work are presented.

Tang, Liang↗

NASA NTRS2009

A Direct Adaptive Control Approach in the Presence of Model Mismatch

This paper considers the problem of direct model reference adaptive control when the plant-model matching conditions are violated due to abnormal changes in the plant or incorrect knowledge of the plant's mathematical structure. The approach consists of direct adaptation of state feedback gains for state tracking, and simultaneous estimation of the plant-model mismatch. Because of the mismatch, the plant can no longer track the state of the original reference model, but may be able to track a new reference model that still provides satisfactory performance. The reference model is updated if the estimated plant-model mismatch exceeds a bound that is determined via robust stability and/or performance criteria. The resulting controller is a hybrid direct-indirect adaptive controller that offers asymptotic state tracking in the presence of plant-model mismatch as well as parameter deviations.

Joshi, Suresh M.↗

NASA NTRS2009

Request for Information Response for the Flight Validation of Adaptive Control to Prevent Loss-of-Control Events. Overview of RFI Responses

Adaptive control should be integrated with a baseline controller and only used when necessary (5 responses). Implementation as an emergency system. Immediately re-stabilize and return to controlled flight. Forced perturbation (excitation) for fine-tuning system a) Check margins; b) Develop requirements for amplitude of excitation. Adaptive system can improve performance by eating into margin constraints imposed on the non-adaptive system. Nonlinear effects due to multi-string voting.

Bosworth, John T.↗

NASA NTRS2009

Pixelized Device Control Actuators for Large Adaptive Optics

A fully integrated, compact, adaptive space optic mirror assembly has been developed, incorporating new advances in ultralight, high-performance composite mirrors. The composite mirrors use Q-switch matrix architecture-based pixelized control (PMN-PT) actuators, which achieve high-performance, large adaptive optic capability, while reducing the weight of present adaptive optic systems. The self-contained, fully assembled, 11x11x4-in. (approx.= 28x28x10-cm) unit integrates a very-high-performance 8-in. (approx.=20-cm) optic, and has 8-kHz true bandwidth. The assembled unit weighs less than 15 pounds (=6.8 kg), including all mechanical assemblies, power electronics, control electronics, drive electronics, face sheet, wiring, and cabling. It requires just three wires to be attached (power, ground, and signal) for full-function systems integration, and uses a steel-frame and epoxied electronics. The three main innovations are: 1. Ultralightweight composite optics: A new replication method for fabrication of very thin composite 20-cm-diameter laminate face sheets with good as-fabricated optical figure was developed. The approach is a new mandrel resin surface deposition onto previously fabricated thin composite laminates. 2. Matrix (regenerative) power topology: Waveform correction can be achieved across an entire face sheet at 6 kHz, even for large actuator counts. In practice, it was found to be better to develop a quadrant drive, that is, four quadrants of 169 actuators behind the face sheet. Each quadrant has a single, small, regenerative power supply driving all 169 actuators at 8 kHz in effective parallel. 3. Q-switch drive architecture: The Q-switch innovation is at the heart of the matrix architecture, and allows for a very fast current draw into a desired actuator element in 120 counts of a MHz clock without any actuator coupling.

Knowles, Gareth J.↗

NASA NTRS2007

Driver Code for Adaptive Optics

A special-purpose computer code for a deformable-mirror adaptive-optics control system transmits pixel-registered control from (1) a personal computer running software that generates the control data to (2) a circuit board with 128 digital-to-analog converters (DACs) that generate voltages to drive the deformable-mirror actuators. This program reads control-voltage codes from a text file, then sends them, via the computer s parallel port, to a circuit board with four AD5535 (or equivalent) chips. Whereas a similar prior computer program was capable of transmitting data to only one chip at a time, this program can send data to four chips simultaneously. This program is in the form of C-language code that can be compiled and linked into an adaptive-optics software system. The program as supplied includes source code for integration into the adaptive-optics software, documentation, and a component that provides a demonstration of loading DAC codes from a text file. On a standard Windows desktop computer, the software can update 128 channels in 10 ms. On Real-Time Linux with a digital I/O card, the software can update 1024 channels (8 boards in parallel) every 8 ms.

Rao, Shanti↗

NASA NTRS2010

Turbulent Output-Based Anisotropic Adaptation

Controlling discretization error is a remaining challenge for computational fluid dynamics simulation. Grid adaptation is applied to reduce estimated discretization error in drag or pressure integral output functions. To enable application to high O(10(exp 7)) Reynolds number turbulent flows, a hybrid approach is utilized that freezes the near-wall boundary layer grids and adapts the grid away from the no slip boundaries. The hybrid approach is not applicable to problems with under resolved initial boundary layer grids, but is a powerful technique for problems with important off-body anisotropic features. Supersonic nozzle plume, turbulent flat plate, and shock-boundary layer interaction examples are presented with comparisons to experimental measurements of pressure and velocity. Adapted grids are produced that resolve off-body features in locations that are not known a priori.

Park, Michael A.↗

NASA NTRS2009

Method and system for spatial data input, manipulation and distribution via an adaptive wireless transceiver

A method and system for spatial data manipulation input and distribution via an adaptive wireless transceiver. The method and system include a wireless transceiver for automatically and adaptively controlling wireless transmissions using a Waveform-DNA method. The wireless transceiver can operate simultaneously over both the short and long distances. The wireless transceiver is automatically adaptive and wireless devices can send and receive wireless digital and analog data from various sources rapidly in real-time via available networks and network services.

Wang, Ray↗

NASA NTRS2010

An Adaptive Control Technology for Safety of a GTM-like Aircraft

An adaptive control architecture for safe performance of a transport aircraft subject to various adverse conditions is proposed and verified in this report. This architecture combines a nominal controller based on a Linear Quadratic Regulator with integral action, and an adaptive controller that accommodates actuator saturation and bounded disturbances. The effectiveness of the baseline controller and its adaptive augmentation are evaluated using a stand-alone control veri fication methodology. Case studies that pair individual parameter uncertainties with critical flight maneuvers are studied. The resilience of the controllers is determined by evaluating the degradation in closed-loop performance resulting from increasingly larger deviations in the uncertain parameters from their nominal values. Symmetric and asymmetric actuator failures, flight upsets, and center of gravity displacements, are some of the uncertainties considered.

Matsutani, Megumi↗

NASA NTRS2009

Vortical Flow Prediction using an Adaptive Unstructured Grid Method

A computational fluid dynamics (CFD) method has been employed to compute vortical flows around slender wing/body configurations. The emphasis of the paper is on the effectiveness of an adaptive grid procedure in "capturing" concentrated vortices generated at sharp edges or flow separation lines of lifting surfaces flying at high angles of attack. The method is based on a tetrahedral unstructured grid technology developed at the NASA Langley Research Center. Two steady-state, subsonic, inviscid and Navier-Stokes flow test cases are presented to demonstrate the applicability of the method for solving vortical flow problems. The first test case concerns vortex flow over a simple 65 delta wing with different values of leading-edge radius. Although the geometry is quite simple, it poses a challenging problem for computing vortices originating from blunt leading edges. The second case is that of a more complex fighter configuration. The superiority of the adapted solutions in capturing the vortex flow structure over the conventional unadapted results is demonstrated by comparisons with the wind-tunnel experimental data. The study shows that numerical prediction of vortical flows is highly sensitive to the local grid resolution and that the implementation of grid adaptation is essential when applying CFD methods to such complicated flow problems.

Pirzadeh, Shahyar Z.↗

NASA NTRS2010

Adaptive Data-based Predictive Control for Short Take-off and Landing (STOL) Aircraft

Data-based Predictive Control is an emerging control method that stems from Model Predictive Control (MPC). MPC computes current control action based on a prediction of the system output a number of time steps into the future and is generally derived from a known model of the system. Data-based predictive control has the advantage of deriving predictive models and controller gains from input-output data. Thus, a controller can be designed from the outputs of complex simulation code or a physical system where no explicit model exists. If the output data happens to be corrupted by periodic disturbances, the designed controller will also have the built-in ability to reject these disturbances without the need to know them. When data-based predictive control is implemented online, it becomes a version of adaptive control. The characteristics of adaptive data-based predictive control are particularly appropriate for the control of nonlinear and time-varying systems, such as Short Take-off and Landing (STOL) aircraft. STOL is a capability of interest to NASA because conceptual Cruise Efficient Short Take-off and Landing (CESTOL) transport aircraft offer the ability to reduce congestion in the terminal area by utilizing existing shorter runways at airports, as well as to lower community noise by flying steep approach and climb-out patterns that reduce the noise footprint of the aircraft. In this study, adaptive data-based predictive control is implemented as an integrated flight-propulsion controller for the outer-loop control of a CESTOL-type aircraft. Results show that the controller successfully tracks velocity while attempting to maintain a constant flight path angle, using longitudinal command, thrust and flap setting as the control inputs.

Barlow, Jonathan Spencer↗

NASA NTRS2006

Optical Profilometers Using Adaptive Signal Processing

A method of adaptive signal processing has been proposed as the basis of a new generation of interferometric optical profilometers for measuring surfaces. The proposed profilometers would be portable, hand-held units. Sizes could be thus reduced because the adaptive-signal-processing method would make it possible to substitute lower-power coherent light sources (e.g., laser diodes) for white light sources and would eliminate the need for most of the optical components of current white-light profilometers. The adaptive-signal-processing method would make it possible to attain scanning ranges of the order of decimeters in the proposed profilometers.

Hall, Gregory A.↗

NASA NTRS2010

Implementation and Evaluation of Multiple Adaptive Control Technologies for a Generic Transport Aircraft Simulation

Presented here is the evaluation of multiple adaptive control technologies for a generic transport aircraft simulation. For this study, seven model reference adaptive control (MRAC) based technologies were considered. Each technology was integrated into an identical dynamic-inversion control architecture and tuned using a methodology based on metrics and specific design requirements. Simulation tests were then performed to evaluate each technology s sensitivity to time-delay, flight condition, model uncertainty, and artificially induced cross-coupling. The resulting robustness and performance characteristics were used to identify potential strengths, weaknesses, and integration challenges of the individual adaptive control technologies

Campbell, Stefan F.↗

NASA NTRS2010

Asymptotic Linearity of Optimal Control Modification Adaptive Law with Analytical Stability Margins

Optimal control modification has been developed to improve robustness to model-reference adaptive control. For systems with linear matched uncertainty, optimal control modification adaptive law can be shown by a singular perturbation argument to possess an outer solution that exhibits a linear asymptotic property. Analytical expressions of phase and time delay margins for the outer solution can be obtained. Using the gradient projection operator, a free design parameter of the adaptive law can be selected to satisfy stability margins.

Nguyen, Nhan T.↗

NASA NTRS2010

L1 Adaptive Control Augmentation System with Application to the X-29 Lateral/Directional Dynamics: A Multi-Input Multi-Output Approach

This paper presents an L(sub 1) adaptive control augmentation system design for multi-input multi-output nonlinear systems in the presence of unmatched uncertainties which may exhibit significant cross-coupling effects. A piecewise continuous adaptive law is adopted and extended for applicability to multi-input multi-output systems that explicitly compensates for dynamic cross-coupling. In addition, explicit use of high-fidelity actuator models are added to the L1 architecture to reduce uncertainties in the system. The L(sub 1) multi-input multi-output adaptive control architecture is applied to the X-29 lateral/directional dynamics and results are evaluated against a similar single-input single-output design approach.

Griffin, Brian Joseph↗

NASA NTRS2010

Adaptive Attitude Control of the Crew Launch Vehicle

An H(sub infinity)-NMA architecture for the Crew Launch Vehicle was developed in a state feedback setting. The minimal complexity adaptive law was shown to improve base line performance relative to a performance metric based on Crew Launch Vehicle design requirements for all most all of the Worst-on-Worst dispersion cases. The adaptive law was able to maintain stability for some dispersions that are unstable with the nominal control law. Due to the nature of the H(sub infinity)-NMA architecture, the augmented adaptive control signal has low bandwidth which is a great benefit for a manned launch vehicle.

Muse, Jonathan↗

NASA NTRS2010

Predictor-Based Model Reference Adaptive Control

This paper is devoted to the design and analysis of a predictor-based model reference adaptive control. Stable adaptive laws are derived using Lyapunov framework. The proposed architecture is compared with the now classical model reference adaptive control. A simulation example is presented in which numerical evidence indicates that the proposed controller yields improved transient characteristics.

Lavretsky, Eugene↗

NASA NTRS2010

Developing Coastal Adaptation to Climate Change in the New York City Infrastructure-Shed: Process, Approach, Tools, and Strategies

While current rates of sea level rise and associated coastal flooding in the New York City region appear to be manageable by stakeholders responsible for communications, energy, transportation, and water infrastructure, projections for sea level rise and associated flooding in the future, especially those associated with rapid icemelt of the Greenland and West Antarctic Icesheets, may be beyond the range of current capacity because an extreme event might cause flooding and inundation beyond the planning and preparedness regimes. This paper describes the comprehensive process, approach, and tools developed by the New York City Panel on Climate Change (NPCC) in conjunction with the region s stakeholders who manage its critical infrastructure, much of which lies near the coast. It presents the adaptation approach and the sea-level rise and storm projections related to coastal risks developed through the stakeholder process. Climate change adaptation planning in New York City is characterized by a multi-jurisdictional stakeholder-scientist process, state-of-the-art scientific projections and mapping, and development of adaptation strategies based on a risk-management approach.

Rosenzweig, Cynthia↗