Iterative solution of nonlinear optimal control problems.
Mathematical programming methods for solving nonlinear state-constrained discrete optimal control problems
DYNAMIC PROGRAMMING↗
SEARCH · Engineering Papers
Results for “Constrained control”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Adaptive Force And Position Control For Robots
Control system causes end effector of robot manipulator to follow prescribed trajectory and applies desired force or torque to object manipulating or in contact. Characterized by hybrid control architecture, where positions and orientations along unconstrained coordinate axes controlled by position-control subsystem, while forces and torques along constrained coordinate axes controlled by force-control subsystem. Compensates for dynamic cross-coupling between force-and position-control loops and does not require knowledge of complicated model of dynamics of manipulator and environment.
Seraji, Homayoun↗
Control law synthesis and stability robustness improvement using constrained optimization techniques
The present generic optimization procedure for a continuous or discrete control law (of arbitrary order), which will be applicable to a multiinput-multioutput system, is upon constraining used to satisfy conflicting design requirements on the mean-square responses and stability robustness at the plant input and output. The synthesis procedure is especially suitable for flexible airframes and large space structures modeled by a high-order state-space system of equations. Analytical expressions are obtained for the gradients of the cost function, together with design constraints on the mean-square response and minimum singular value.
Mukhopadhyay, Vivekananda↗
Corrective Control to Handle Forecast Uncertainty: A Chance Constrained Optimal Power Flow
Higher shares of electricity generation from renewable energy sources and market liberalization is increasing uncertainty in power systems operation. At the same time, operation is becoming more flexible with improved control systems and new technology such as phase shifting transformers (PSTs) and high voltage direct current connections (HVDC). Previous studies have shown that the use of corrective control in response to outages contributes to a reduction in operating cost, while maintaining N-1 security. In this work, we propose a method to extend the use of corrective control of PSTs and HVDCs to react to uncertainty. We characterize the uncertainty as continuous random variables, and define the corrective control actions through affine control policies. This allows us to efficiently model control reactions to a large number of uncertainty sources. The control policies are then included in a chance constrained optimal power flow formulation, which guarantees that the system constraints are enforced with a desired probability. Lastly, by applying an analytical reformulation of the chance constraints, we obtain a second-order cone problem for which we develop an efficient solution algorithm. In a case study for the IEEE 118 bus system, we show that corrective control for uncertainty leads to a decrease in operational cost, while maintaining system security. Further, we demonstrate the scalability of the method by solving the problem for the IEEE 300 bus and the Polish system test cases.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Digital adaptive control laws for the F-8
NASA is conducting a flight control research program in digital fly-by-wire technology using a modified F-8C aircraft. The first phase of this program used Apollo hardware to demonstrate the practicality of digital fly-by-wire in an actual test vehicle. For the second phase, conventional aircraft sensors and a large floating point digital computer are being utilized to test advanced control laws and redundancy concepts. As part of NASA's research in digital fly-by-wire technology, Honeywell developed digital adaptive flight control laws for flight test in the F-8C. Adaptation of the control laws was to be based on information sensed from conventional aircraft sensors excluding air data. The control laws were constrained to use only existing elevator, rudder, and ailerons as control effectors, each powered by existing actuators. Three adaptive control laws were successfully designed using maximum likelihood estimation, a Liapunov stable model tracker and a self-excited limit cycle concept. The maximum likelihood estimation design was selected as the most promising because of its capability to identify more than surface effectiveness parameters. The adaptive concepts, the control laws and comparisons of predicted performance are described.
Hartmann, G. L.↗
Stochastic Model Predictive Control for Demand Response in a Home Energy Management System
This paper presents a chance constrained, model predictive control (MPC) algorithm for demand response (DR) in a home energy management system (HEMS). The HEMS optimally schedules controllable appliances given user preferences such as thermal comfort and energy cost sensitivity, and available residentially-owned power sources such as photovoltaic (PV) generation and home battery systems. The proposed control architecture ensures both the DR event and indoor thermal comfort are satisfied with a high probability given the uncertainty in available PV generation and the outdoor temperature forecast. The uncertainties are incorporated into the MPC formulation using probabilistic constraints instead of computationally limiting sampling-based approaches. Simulation results for various user preferences and probabilistic model parameters show the effectiveness of the HEMS algorithm response to DR requests.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Stochastic Model Predictive Control for Demand Response in a Home Energy Management System: Preprint
This paper presents a chance constrained, model predictive control (MPC) algorithm for demand response (DR) in a home energy management system (HEMS). The HEMS optimally schedules controllable appliances given user preferences such as thermal comfort and energy cost sensitivity, and available residentially-owned power sources such as photovoltaic (PV) generation and home battery systems. The proposed control architecture ensures both the DR event and indoor thermal comfort are satisfied with a high probability given the uncertainty in available PV generation and the outdoor temperature forecast. The uncertainties are incorporated into the MPC formulation using probabilistic constraints instead of computationally limiting sampling-based approaches. Simulation results for various user preferences and probabilistic model parameters show the effectiveness of the HEMS algorithm response to DR requests.
47 OTHER INSTRUMENTATION↗
Design of sensitivity-constrained optimal linear state-regulator control systems.
Optimal linear controller synthesis with minimized trajectory sensitivity achieved by using quadratic cost function
Higginbotham, R. E.↗
Robust Path Planning and Feedback Design Under Stochastic Uncertainty
Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.
autonomuys vehicles↗
Lyapunov optimal feedback control of a nonlinear inverted pendulum
Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.
Grantham, W. J.↗
Trajectory Design Strategies for the NGST L2 Libration Point Mission
The Origins' Next Generation Space Telescope (NGST) trajectory design is addressed in light of improved methods for attaining constrained orbit parameters and their control at the exterior collinear libration point, L2. The use of a dynamical systems approach, state-space equations for initial libration orbit control, and optimization to achieve constrained orbit parameters are emphasized. The NGST trajectory design encompasses a direct transfer and orbit maintenance under a constant acceleration. A dynamical systems approach can be used to provide a biased orbit and stationkeeping maintenance method that incorporates the constraint of a single axis correction scheme.
Folta, David↗
Guidance and Control Architecture Design and Demonstration for Low Ballistic Coefficient Atmospheric Entry
We propose to develop a robust guidance and control system for the ADEPT (Adaptable Deployable Entry and Placement Technology) entry vehicle. A control-centric model of ADEPT will be developed to quantify the performance of candidate guidance and control architectures for both aerocapture and precision landing missions. The evaluation will be based on recent breakthroughs in constrained controllability/reachability analysis of control systems and constrained-based energy-minimum trajectory optimization for guidance development operating in complex environments.
Entry↗
Solution of nonlinear multivariable constrained systems using a gradient projection digital algorithm that is insensitive to the initial state
Optimal digital control of nonlinear multivariable constrained systems was studied. The optimal controller in the form of an algorithm was improved and refined by reducing running time and storage requirements. A particularly difficult system of nine nonlinear state variable equations was chosen as a test problem for analyzing and improving the controller. Lengthy analysis, modeling, computing and optimization were accomplished. A remote interactive teletype terminal was installed. Analysis requiring computer usage of short duration was accomplished using Tuskegee's VAX 11/750 system.
Hargrove, A.↗
Communication: Analytical optimal pulse shapes obtained with the aid of genetic algorithms: Controlling the photoisomerization yield of retinal
We recently proposed a Quantum Optimal Control (QOC) method constrained to build pulses from analytical pulse shapes [R. D. Guerrero et al., J. Chem. Phys. 143(12), 124108 (2015)]. This approach was applied to control the dissociation channel yields of the diatomic molecule KH, considering three potential energy curves and one degree of freedom. In this work, we utilized this methodology to study the strong field control of the cis-trans photoisomerization of 11-cis retinal. This more complex system was modeled with a Hamiltonian comprising two potential energy surfaces and two degrees of freedom. The resulting optimal pulse, made of 6 linearly chirped pulses, was capable of controlling the population of the trans isomer on the ground electronic surface for nearly 200 fs. The simplicity of the pulse generated with our QOC approach offers two clear advantages: a direct analysis of the sequence of events occurring during the driven dynamics, and its reproducibility in the laboratory with current laser technologies.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
Aeroservoelasticity
An overview of some research activities being conducted on aeroservoelasticity (ASE) in flight vehicles is given. Modeling procedures involving rational functions for approximating unsteady aerodynamics are briefly examined along with analysis methods using the ISAC and ADAM codes. The use of ASE in integrated structure/control law design methodology, control design using constrained optimization/singular value constraints, and adaptive structures is addressed. Test demonstrations of aeroelastic wind-tunnel models or full-scale flight vehicles with active control concepts are described which have significantly enhanced the state of the art in active control technology. The Active Flexible Wing wind-tunnel test project is discussed in detail to emphasize today's activities and accomplishments. Finally, recent activities illustrating the state of the art of ASE in high-speed aircraft are examined.
Noll, Thomas E.↗
Integrative application of active controls (IAAC) technology to an advanced subsonic transport project. Initial act configuration design study
The performance and economic benefits of a constrained application of Active Controls Technology (ACT) are identified, and the approach to airplane design is established for subsequent steps leading to the development of a less constrained final ACT configuration. The active controls configurations are measured against a conventional baseline configuration, a state-of-the-art transport, to determine whether the performance and economic changes resulting from ACT merit proceeding with the project. The technology established by the conventional baseline configuration was held constant except for the addition of ACT. The wing, with the same planform, was moved forward on the initial ACT configuration to move the loading range aft relative to the wing mean aerodynamic chord. Wing trailing-edge surfaces and surface controls also were reconfigured for load alleviation and structural stabilization.
Source record↗
Control Design for an Advanced Geared Turbofan Engine
This paper describes the design process for the control system of an advanced geared turbofan engine. This process is applied to a simulation that is representative of a 30,000 lbf thrust class concept engine with two main spools, ultra-high bypass ratio, and a variable area fan nozzle. Control system requirements constrain the non-linear engine model as it operates throughout its flight envelope of sea level to 40,000 ft and from 0 to 0.8 Mach. The control architecture selected for this project was developed from literature and reflects a configuration that utilizes a proportional integral controller integrated with sets of limiters that enable the engine to operate safely throughout its flight envelope. Simulation results show the overall system meets performance requirements without exceeding system operational limits.
aerothermodynamics↗
Control Design for an Advanced Geared Turbofan Engine
This paper describes the design process for the control system of an advanced geared turbofan engine. This process is applied to a simulation that is representative of a 30,000 lbf thrust class concept engine with two main spools, ultra-high bypass ratio, and a variable area fan nozzle. Control system requirements constrain the non-linear engine model as it operates throughout its flight envelope of sea level to 40,000 ft and from 0 to 0.8 Mach. The control architecture selected for this project was developed from literature and reflects a configuration that utilizes a proportional integral controller integrated with sets of limiters that enable the engine to operate safely throughout its flight envelope. Simulation results show the overall system meets performance requirements without exceeding system operational limits.
gas path dynamics↗