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At least 1,549 records · Page 86

All sources NASA NTRS DOE OSTI

DOE OSTI2023

Ground vehicle lane-keeping assistance system via differential flatness output feedback control and algebraic derivative estimation

Vehicle run-off-road is one of the most frequent and fatal traffic accidents in the United States. Various lane-keeping assistance (LKA) systems have been developed in the last decade to help drivers stay on the road. Most of them are built upon linear driver–vehicle–road (DVR) models and treat road curvature as a disturbance. Albeit effective, their control performance would degrade if road curvature varies rapidly. Here, this paper proposes a novel nonlinear DVR model by integrating a driver steering model into vehicle–road kinematics, which explicitly considers road curvature. Particularly, this nonlinear DVR system has been proven to be differentially flat, and a flatness-based LKA system is designed. Additionally, Model-Free Control is introduced to compensate for system modeling errors. Hardware-in-the-loop simulations and diver-in-the-loop experiments validate the proposed control framework and demonstrate the performance enhancement with respect to a representative linear robust LKA system.

42 ENGINEERING↗

NASA NTRS1983

Partial and robust linearization by feedback

It is argued that if the nonlinearities in a system are mild, and the controller is sufficiently stabilizing, the inaccuracies of a linear model, which is often taken to be sufficient for a controller design, can be safely neglected. For systems with severe nonlinearity a linearizing technique is described, based on the change of state coordinates and nonlinear feedback; in the total context of a stable feedback design the linearization technique is considered robust. Furthermore, attention is paid to partial linearization using the same transformations. It is found that there always exist maximally linearizing transformations which are not necessarily unique.

Krener, A. J.↗

NASA NTRS1999

A Methodology for Investigating Adaptive Postural Control

Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of overt goals. It follows that an essential characteristic of postural behavior is the effective maintenance of the orientation and stability of the sensory and motor "platforms" (e.g., head or shoulders) over variations in the human, the environment and the task. This general skill suggests that individuals should be sensitive to the functional consequences of body configuration and stability. In other words, individuals should perceive the relation between configuration, stability, and performance so that they can adaptively control their interaction with the surroundings. Human-environment interactions constitute robust systems in that individuals can maintain the stability of such interactions over uncertainty about and variations in the dynamics of the interaction. Robust interactions allow individuals to adopt orientations and configurations that are not optimal with respect to purely energetic criteria. Individuals can tolerate variation in postural states, and such variation can serve an important function in adaptive systems. Postural variability generates stimulation which is "textured" by the dynamics of the human-environment system. The texture or structure in stimulation provides information about variation in dynamics, and such information can be sufficient to guide adaption in control strategies. Our method were designed to measure informative patterns of movement variability.

McDonald, P. V.↗

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 NTRS1996

QFT Multi-Input, Multi-Output Design with Non-Diagonal, Non-Square Compensation Matrices

A technique for obtaining a non-diagonal compensator for the control of a multi-input, multi-output plant is presented. The technique, which uses Quantitative Feedback Theory, provides guaranteed stability and performance robustness in the presence of parametric uncertainty. An example is given involving the lateral-directional control of an uncertain model of a high-performance fighter aircraft in which redundant control effectors are in evidence, i.e. more control effectors than output variables are used.

Hess, R. A.↗

NASA NTRS1993

Application of controller partitioning optimization procedure to integrated flight/propulsion control design for a STOVL aircraft

A parameter optimization framework has earlier been developed to solve the problem of partitioning a centralized controller into a decentralized, hierarchical structure suitable for integrated flight/propulsion control implementation. This paper presents results from the application of the controller partitioning optimization procedure to IFPC design for a Short Take-Off and Vertical Landing (STOVL) aircraft in transition flight. The controller partitioning problem and the parameter optimization algorithm are briefly described. Insight is provided into choosing various 'user' selected parameters in the optimization cost function such that the resulting optimized subcontrollers will meet the characteristics of the centralized controller that are crucial to achieving the desired closed-loop performance and robustness, while maintaining the desired subcontroller structure constraints that are crucial for IFPC implementation. The optimization procedure is shown to improve upon the initial partitioned subcontrollers and lead to performance comparable to that achieved with the centralized controller. This application also provides insight into the issues that should be addressed at the centralized control design level in order to obtain implementable partitioned subcontrollers.

Garg, Sanjay↗

NASA NTRS1993

Application of controller partitioning optimization procedure to integrated flight/propulsion control design for a STOVL aircraft

Garg, Sanjay↗

NASA NTRS1995

Parallel Monte Carlo Simulation for control system design

The research during the 1993/94 academic year addressed the design of parallel algorithms for stochastic robustness synthesis (SRS). SRS uses Monte Carlo simulation to compute probabilities of system instability and other design-metric violations. The probabilities form a cost function which is used by a genetic algorithm (GA). The GA searches for the stochastic optimal controller. The existing sequential algorithm was analyzed and modified to execute in a distributed environment. For this, parallel approaches to Monte Carlo simulation and genetic algorithms were investigated. Initial empirical results are available for the KSR1.

Schubert, Wolfgang M.↗

NASA NTRS1996

Space-Related Applications of Intelligent Control: Which Algorithm to Choose? (Theoretical Analysis of the Problem)

For a space mission to be successful it is vitally important to have a good control strategy. For example, with the Space Shuttle it is necessary to guarantee the success and smoothness of docking, the smoothness and fuel efficiency of trajectory control, etc. For an automated planetary mission it is important to control the spacecraft's trajectory, and after that, to control the planetary rover so that it would be operable for the longest possible period of time. In many complicated control situations, traditional methods of control theory are difficult or even impossible to apply. In general, in uncertain situations, where no routine methods are directly applicable, we must rely on the creativity and skill of the human operators. In order to simulate these experts, an intelligent control methodology must be developed. The research objectives of this project were: to analyze existing control techniques; to find out which of these techniques is the best with respect to the basic optimality criteria (stability, smoothness, robustness); and, if for some problems, none of the existing techniques is satisfactory, to design new, better intelligent control techniques.

Kreinovich, Vladik↗

NASA NTRS1998

A Study of Fixed-Order Mixed Norm Designs for a Benchmark Problem in Structural Control

This study investigates the use of H2, p-synthesis, and mixed H2/mu methods to construct full-order controllers and optimized controllers of fixed dimensions. The benchmark problem definition is first extended to include uncertainty within the controller bandwidth in the form of parametric uncertainty representative of uncertainty in the natural frequencies of the design model. The sensitivity of H2 design to unmodelled dynamics and parametric uncertainty is evaluated for a range of controller levels of authority. Next, mu-synthesis methods are applied to design full-order compensators that are robust to both unmodelled dynamics and to parametric uncertainty. Finally, a set of mixed H2/mu compensators are designed which are optimized for a fixed compensator dimension. These mixed norm designs recover the H, design performance levels while providing the same levels of robust stability as the u designs. It is shown that designing with the mixed norm approach permits higher levels of controller authority for which the H, designs are destabilizing. The benchmark problem is that of an active tendon system. The controller designs are all based on the use of acceleration feedback.

Whorton, Mark S.↗

DOE OSTI2026

Optimization-based approaches to control of connected and automated vehicles: Principles, complexities, applications, challenges, and outlook

Safe and optimal motion control for connected and automated vehicles (CAVs) poses a fundamental optimization challenge at the intersection of system complexity, environmental uncertainty, and stringent real-time constraints. Existing surveys address this challenge in isolation – focusing either on specific control techniques or individual uncertainty sources – without providing a unified framework that characterizes the trade-offs among computational tractability, performance verifiability, and adaptive generalization across paradigms. This review addresses that gap by presenting a cohesive analytical framework concentrated on the decision-making and trajectory optimization layers of the CAV autonomy stack. We systematically analyze three major optimization paradigms – first-principles model-based optimization, data-driven methods, and hybrid synergistic architectures – evaluating each against four core complexity axes: problem formulation, constraint handling, optimality guarantees, and robustness. Key applications including platooning, trajectory planning, collision avoidance, and cooperative control are examined to reveal recurring methodological patterns and critical operational constraints that limit real-world performance. Our synthesis identifies verifiable hybrid architectures, incentive-aligned multi-agent cooperation, and hardware-algorithm co-design as the defining research frontiers, and distills a targeted agenda for developing CAV control systems that are simultaneously safe, computationally efficient, and deployable in the full complexity of real-world traffic environments.

Muzahid, Abu Jafar Md [University of Tennessee, Kn↗

DOE OSTI2022

Dominant controls of cold-season precipitation variability over the high mountains of Asia

A robust understanding of the sub-seasonal cold season (November–March) precipitation variability over the High Mountains of Asia (HMA) is lacking. Here, we identify dynamic and thermodynamic pathways through which natural modes of climate variability establish their teleconnections over the HMA. First, we identify evaporative sources that contribute to the cold season precipitation over the HMA and surrounding areas. The predominant moisture contribution comes from the mid-latitude regions, including the Mediterranean/Caspian Seas and Mediterranean land. Second, we establish that several tropical and extratropical forcings display a sub-seasonally fluctuating influence on precipitation distribution over the region during the cold season. Many of them varyingly interact, so their impacts cannot be explained independently or at seasonal timescales. Lastly, a single set of evaporative sources is not identifiable as the key determinant in propagating a remote teleconnection because the sources of moisture anomalies depend on the pattern of sub-seasonally varying dynamical forcing in the atmosphere.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2020

High-Level Considerations for Access and Access Controls by Design

The design and construction of a nuclear power plant must include robust structures and a security boundary that is difficult to penetrate. For security considerations, the reactors would ideally be sited underground, beneath a massive solid block, which would be too thick to be penetrated by tools or explosives. Additionally, all communications and power transfer lines would also be located underground and would be fortified against any possible design basis threats. Limiting access with difficult-to-penetrate physical barriers is a key aspect for determining response and staffing requirements. Considerations considered in a graded approach to physical protection are described.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2021

Reversible hydrogen control of antiferromagnetic anisotropy in α-Fe 2 O 3

Antiferromagnetic insulators are a ubiquitous class of magnetic materials, holding the promise of low-dissipation spin-based computing devices that can display ultra-fast switching and are robust against stray fields. However, their imperviousness to magnetic fields also makes them difficult to control in a reversible and scalable manner. Here we demonstrate a novel proof-of-principle ionic approach to control the spin reorientation (Morin) transition reversibly in the common antiferromagnetic insulator α-Fe 2 O 3 (haematite) - now an emerging spintronic material that hosts topological antiferromagnetic spin-textures and long magnon-diffusion lengths. We use a low-temperature catalytic-spillover process involving the post-growth incorporation or removal of hydrogen from α-Fe 2 O 3 thin films. Hydrogenation drives pronounced changes in its magnetic anisotropy, Néel vector orientation and canted magnetism via electron injection and local distortions. We explain these effects with a detailed magnetic anisotropy model and first-principles calculations. Tailoring our work for future applications, we demonstrate reversible control of the room-temperature spin-state by doping/expelling hydrogen in Rh-substituted α-Fe 2 O 3 .

36 MATERIALS SCIENCE↗

DOE OSTI2023

Strain-switchable field-induced superconductivity

Field-induced superconductivity is a rare phenomenon where an applied magnetic field enhances or induces superconductivity. Here, we use applied stress as a control switch between a field-tunable superconducting state and a robust non–field-tunable state. This marks the first demonstration of a strain-tunable superconducting spin valve with infinite magnetoresistance. We combine tunable uniaxial stress and applied magnetic field on the ferromagnetic superconductor Eu(Fe 0.88 Co 0.12 ) 2 As 2 to shift the field-induced zero-resistance temperature between 4 K and a record-high value of 10 K. We use x-ray diffraction and spectroscopy measurements under stress and field to reveal that strain tuning of the nematic order and field tuning of the ferromagnetism act as independent control parameters of the superconductivity. Combining comprehensive measurements with DFT calculations, we propose that field-induced superconductivity arises from a novel mechanism, namely, the uniquely dominant effect of the Eu dipolar field when the exchange field splitting is nearly zero.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

DOE OSTI2024

Development of Property Composition Models For RPP-WTP LAW Glasses (Final Report)

This report describes the development of property-composition models for low-activity waste (LAW) glasses for the River Protection Project Waste Treatment Plant (RPP-WTP) at the Hanford site. The RPP-WTP will separate Hanford tank wastes into LAW and high-level waste (HLW) streams and each stream will be vitrified separately. The development of LAW and HLW glass formulations for the RPP-WTP has been reported previously and is an ongoing activity. Acceptable formulations must meet a variety of processability, product quality, and waste loading requirements that are dictated either by the RPP-WTP contract or by the characteristics of the particular treatment processes that have been selected. These requirements amount to constraints on the acceptable ranges of certain glass properties. These properties are determined first and foremost by the composition of the glass or glass melt. Thus, while there is no direct way of controlling the glass properties of interest during production, there are simple and extremely effective methods of achieving the same result by instead controlling the glass composition. This basic principle is no different from that used to produce enormous volumes of commercial glass to meet exacting product specifications. An essential difference in waste vitrification, however, is that one of the raw materials (the waste itself) can be subject to considerable compositional uncertainty and variability. Thus, waste vitrification facilities and associated process control systems (of which, the operating envelope in glass formulation space is a key part) must, of course, be designed to be robust with respect to such variations. The determination of quantitative relationships between the glass properties that must be controlled and the glass composition can play an important role in the development of such facilities.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1991

Analysis of airframe/engine interactions in integrated flight and propulsion control

An analysis framework for the assessment of dynamic cross-coupling between airframe and engine systems from the perspective of integrated flight/propulsion control is presented. This analysis involves to determining the significance of the interactions with respect to deterioration in stability robustness and performance, as well as critical frequency ranges where problems may occur due to these interactions. The analysis illustrated here investigates both the airframe's effects on the engine control loops and the engine's effects on the airframe control loops in two case studies. The second case study involves a multi-input/multi-output analysis of the airframe. Sensitivity studies are performed on critical interactions to examine the degradations in the system's stability robustness and performance. Magnitudes of the interactions required to cause instabilities, as well as the frequencies at which the instabilities occur are recorded. Finally, the analysis framework is expanded to include control laws which contain cross-feeds between the airframe and engine systems.

Schierman, John D.↗

DOE OSTI2022

Multimode Strong Coupling in Cavity Optomechanics

Optomechanical systems show great potential as quantum transducers and information storage devices for use in future hybrid quantum networks. In this context, optomechanical strong coupling can enable efficient, high-bandwidth, and deterministic transfer of quantum states. While optomechanical strong coupling has been realized at optical frequencies, it has proven difficult to identify a robust optomechanical system that features the low loss and high coupling rates required for more sophisticated control of mechanical motion. In this paper, we demonstrate strong coupling in a Brillouin-based bulk cavity optomechanical system in both the single-mode and the multimode strong-coupling regime, which leads to a useful device both for applications in quantum information and for investigating decoherence phenomena in bulk acoustic wave resonators. Using nontrivial mode hybridizations in the strong-coupling regime, we create hybridized photonic-phononic modes with lifetimes that are significantly longer than those of the uncoupled system. This surprising lifetime enhancement, which results from the interference of decay channels, showcases the use of multimode strong coupling as a general strategy to control extrinsic decoherence mechanisms. Moreover, phonons supported by such bulk-acoustic-wave resonators have a collection of properties, including high frequencies, long coherence times, and robustness against thermal decoherence, that make this optomechanical system particularly enticing for applications such as quantum transduction and memories. Hence, this system provides access to phenomena in a previously unexplored regime of optomechanical interactions and could serve as an important building block for future quantum devices.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗