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At least 163 records · Page 9

Model validation - A connection between robust control and identification

The gap between the models used in control synthesis and those obtained from identification experiments is considered by investigating the connection between uncertain models and data. The model validation problem addressed is: given experimental data and a model with both additive noise and norm-bounded perturbations, is it possible that the model could produce the observed input-output data? This problem is studied for the standard H-infinity/mu framework models. A necessary condition for such a model to describe an experimental datum is obtained. For a large class of models in the robust control framework, this condition is computable as the solution of a quadratic optimization problem.

Smith, Roy S.↗

Robustness analysis based on passivity

A technique of robust stability analysis for multivariable control systems is introduced. Existing tools in the literature are mostly based on small gain type of conditions such as the H(infinity)-norm or mu measure. In contrast, the approach presented is motivated by passivity theory. The natural energy Lyapunov function associated with a passive system allows robustness to be analyzed with Lyapunov stability theory. Consequently, nonlinear and time-varying perturbations can be considered within the same framework. For unstructured uncertainties, the robustness margin is characterized in terms of an index related to the Hermitian part of a transfer function. If the uncertainties contain additional diagonal structure, stability margins are obtained for variations of each uncertain block in both positive and negative directions. Applications of this robustness analysis technique are illustrated.

Wen, John T.↗

Modern CACSD using the Robust-Control Toolbox

The Robust-Control Toolbox is a collection of 40 M-files which extend the capability of PC/PRO-MATLAB to do modern multivariable robust control system design. Included are robust analysis tools like singular values and structured singular values, robust synthesis tools like continuous/discrete H(exp 2)/H infinity synthesis and Linear Quadratic Gaussian Loop Transfer Recovery methods and a variety of robust model reduction tools such as Hankel approximation, balanced truncation and balanced stochastic truncation, etc. The capabilities of the toolbox are described and illustated with examples to show how easily they can be used in practice. Examples include structured singular value analysis, H infinity loop-shaping and large space structure model reduction.

Chiang, Richard Y.↗

Parametric robust control and system identification: Unified approach

Despite significant advancement in the area of robust parametric control, the problem of synthesizing such a controller is still a wide open problem. Thus, we attempt to give a solution to this important problem. Our approach captures the parametric uncertainty as an H(sub infinity) unstructured uncertainty so that H(sub infinity) synthesis techniques are applicable. Although the techniques cannot cope with the exact parametric uncertainty, they give a reasonable guideline to model the unstructured uncertainty that contains the parametric uncertainty. An additional loop shaping technique is also introduced to relax its conservatism.

Keel, Leehyun↗

Multivariable control of the Space Shuttle Remote Manipulator System

Linear controllers are designed to regulate the end effector of the Space Shuttle Remote Manipulator System (SRMS) operating in position hold mode. Design techniques used include H2 and H-infinity optimization. The nonlinear SRMS is linearized by modeling the effects of the significant nonlinearities as uncertain parameters. Each regulator design is evaluated for robust stability using both the small gain theorem with an H-infinity norm and the less conservative mu-analysis test. Regulator designs offer significant improvement over the current system for the nominal plant. Unfortunately, the SRMS model suffers from lightly damped poles with real parametric uncertainty. Under such conditions, the mu-analysis test, which allows for complex perturbations, cannot guarantee robust stability.

Adams, Neil J.↗

Robust stabilization, robust performance, and disturbance attenuation for uncertain linear systems

This paper presents a linear quadratic regulator approach to the robust stabilization, robust performance, and disturbance attenuation of uncertain linear systems. The state-feedback designed systems provide both the robust stability with optimal performance and the disturbance attenuation with H-infinity-norm bounds. The proposed approach can be applied to matched and/or mismatched uncertain linear systems. For a matched uncertain linear system, it is shown that the disturbance attenuation robust-stabilizing controllers with or without optimal performance always exist and can be easily determined without searching; whereas, for a mismatched uncertain linear system, the introduced tuning parameters greatly enhance the flexibility of finding the disturbance-attenuation robust-stabilizing controllers.

Wang, Yeih J.↗

Unstructured Grid Euler Method Assessment for Longitudinal and Lateral/Directional Stability Analysis of the HSR Reference H Configuration at Transonic Speeds

Transonic Euler computations, based on unstructured grid methodology, are performed for a proposed High Speed Civil Transport (HSCT) configuration, designated as the Reference H configuration within the High Speed Research (HSR) Program. The predicted results are correlated with appropriate experimental wind-tunnel data for the baseline configuration with and without control surface deflections for a range of angle of attack at M(sub infinity) = 0.95. Good correlations between the predictions and measured data have been obtained for the longitudinal aerodynamic characteristics of the baseline configuration. The incremental effects in the longitudinal aerodynamic characteristics due to horizontal rail deflections as well as wing leading-edge and trailing-edge flap deflections have also been predicted reasonably well. Computational results and correlations with data are also presented for the lateral and directional stability characteristics for a range of angle of attack at a constant sideslip angle as well as a range of sideslip angles at a constant angle of attack. In addition, the results are presented to assess the computational method performance and convergence characteristics.

Ghaffari, Farhad↗

Closed-loop transfer recovery with observer-based controllers. I - Analysis. II - Design

A detailed study is presented of three fundamental issues related to the problem of closed-loop transfer (CLT) recovery. The first issues concerns what can and cannot be achieved for a given system and for an arbitrary target CLT function (TCLTF). The second issue involves developing necessary and/or sufficient conditions for a TCLTF to be recoverable either exactly or approximately. The third issue involves the necessary and/or sufficient conditions on a given system such that it has at least one recoverable TCLTF. The results of the analysis identify some fundamental limitations of the given system as a consequence of its structural properties which enables designers to appreciate at the outset different design limitations incurred in the synthesis of output-feedback controllers. Then, the actual design of full-order or reduced-order observer-based controllers is addressed which will achieve as close as possibly the desired TCLTF. Three design methods are considered: (1) the ATEA method, (2) a method that minimizes the H2-norm of a recovery matrix, and (3) a method that minimizes the respective H(infinity) norm. The relative merits of the methods are discussed.

Chen, Ben M.↗

Controls of interaction dynamics of orbital assembly

Building structures and spacecraft in orbit will require technologies for positioning, docking/berthing, and joining orbital structures. A fundamental problem underlying the operation of docking and berthing is that of controlling the contact dynamics of mechanical structures actuated by active mechanisms such as robotic devices. Control systems must be designed to control these active mechanisms so that both the free space motions and contact motions are stable and satisfy specifications on position accuracy and bounds on contact forces. For the large orbital structures of the future, the problem of interactive dynamics and control is fundamentally different in several ways than it was for spacecraft docking in the past. First, future space structures must be treated as flexible structures - the operations of docking, berthing, and assembly will need to respect the vibrations of the structures. Second, the assembly of these structures will require multiple-point contact, rather than the essentially single-point positioning of conventional spacecraft docking. Third, some assembly operations require the subassemblies to be brought and held in contact so that successful joining can be accomplished. A preliminary study of contact stability and compliance control design has resulted in the development of an analytical method and a design method to analyze stability. The analytical method analyzes the problem of stability when an actively-controlled structure contacts a passive structure. This method makes it possible to accurately estimate the stiffness of the passive structures with which the contact motion will become unstable. The analytic results suggest that passivity is neither achievable in practice, nor necessary as a design concept. A contact control system need only be passive up to a certain frequency; beyond that frequency the system can be stabilized with sufficiently small gains. With this concept the Center developed a design methodology for achieving desired compliant contact motions. This design method is based on H-infinity norm optimization, which makes it possible to consider both driving point mechanical impedance and systems robustness to modeling uncertainty. A laboratory facility was set up to verify experimentally the analytical and design theory.

Su, Renjeng↗

Parametric conditions for stability of reduced-order linear time-varying control systems

Using a single framework, parametric conditions are derived which encompass those for both local and global BIBO stability of a linear multivariable discrete-time reduced-order time-varying control system. These conditions indicate that the system will be BIBO stable if the norm of the system-parameter error matrix is bounded by an l exp 1 function superimposed on an l exp infinity function.

Ma, C. C. H.↗

LPV Modeling of a Flexible Wing Aircraft Using Modal Alignment and Adaptive Gridding Methods

One of the earliest approaches in gain-scheduling control is the gridding based approach, in which a set of local linear time-invariant models are obtained at various gridded points corresponding to the varying parameters within the flight envelop. In order to ensure smooth and effective Linear Parameter-Varying control, aligning all the flexible modes within each local model and maintaining small number of representative local models over the gridded parameter space are crucial. In addition, since the flexible structural models tend to have large dimensions, a tractable model reduction process is necessary. In this paper, the notion of s-shifted H2- and H Infinity-norm are introduced and used as a metric to measure the model mismatch. A new modal alignment algorithm is developed which utilizes the defined metric for aligning all the local models over the entire gridded parameter space. Furthermore, an Adaptive Grid Step Size Determination algorithm is developed to minimize the number of local models required to represent the gridded parameter space. For model reduction, we propose to utilize the concept of Composite Modal Cost Analysis, through which the collective contribution of each flexible mode is computed and ranked. Therefore, a reduced-order model is constructed by retaining only those modes with significant contribution. The NASA Generic Transport Model operating at various flight speeds is studied for verification purpose, and the analysis and simulation results demonstrate the effectiveness of the proposed modeling approach.

LPV Modeling↗

On-Line Modal State Monitoring of Slowly Time-Varying Structures

Monitoring the dynamic response of structures is often performed for a variety of reasons. These reasons include condition-based maintenance, health monitoring, performance improvements, and control. In many cases the data analysis that is performed is part of a repetitive decision-making process, and in these cases the development of effective on-line monitoring schemes help to speed the decision-making process and reduce the risk of erroneous decisions. This report investigates the use of spatial modal filters for tracking the dynamics of slowly time-varying linear structures. The report includes an overview of modal filter theory followed by an overview of several structural system identification methods. Included in this discussion and comparison are H-infinity, eigensystem realization, and several time-domain least squares approaches. Finally, a two-stage adaptive on-line monitoring scheme is developed and evaluated.

Johnson, Erik A.↗

Linear quadratic tracking problems in Hilbert space - Application to optimal active noise suppression

A unified treatment of the linear quadratic tracking (LQT) problem, in which a control system's dynamics are modeled by a linear evolution equation with a nonhomogeneous component that is linearly dependent on the control function u, is presented; the treatment proceeds from the theoretical formulation to a numerical approximation framework. Attention is given to two categories of LQT problems in an infinite time interval: the finite energy and the finite average energy. The behavior of the optimal solution for finite time-interval problems as the length of the interval tends to infinity is discussed. Also presented are the formulations and properties of LQT problems in a finite time interval.

Banks, H. T.↗

Binocular device for displaying numerical information in field of view

An apparatus is described for superimposing numerical information on the field of view of binoculars. The invention has application in the flying of radio-controlled model airplanes. Information such as airspeed and angle of attack are sensed on a model airplane and transmitted back to earth where this information is changed into numerical form. Optical means are attached to the binoculars that a pilot is using to track the model air plane for displaying the numerical information in the field of view of the binoculars. The device includes means for focusing the numerical information at infinity whereby the user of the binoculars can see both the field of view and the numerical information without refocusing his eyes.

Fuller, H. V.↗

Stability margins for Hurwitz polynomials

The authors treat the robust stability issue using the characteristic polynomial, for two different cases: first in coefficient space with respect to perturbations in the coefficient of the characteristic polynomial; and then for a control system containing perturbed parameters in the transfer function description of the plant. In coefficient space, a simple expression is first given for the l-(squared) stability margin for both the monic and nonmonic cases. Following this, a method is given to find the l(infinity) margin, and the method is extended to reveal much larger stability regions. In parameter space the authors consider all single-input (multi-output) or single-output (multi-input) systems with a fixed controller and a plant described by a set of transfer functions which are ratios of polynomials with variable coefficients. A procedure is presented to calculate the radius of the largest stability ball in the space of these variable parameters. The calculation serves as a stability margin for the control system. The formulas that result are quasi-closed-form expressions for the stability margin and are computationally efficient.

Chapellat, Herve↗

Additive Runge-Kutta Schemes for Convection-Diffusion-Reaction Equations

Additive Runge-Kutta (ARK) methods are investigated for application to the spatially discretized one- dimensional convection-diffusion-reaction (CDR) equations. Accuracy, stability, conservation, and dense-output are first considered for the general case when N different Runge-Kutta methods are grouped into a single composite method. Then, implicit-explicit, (N = 2), additive Runge-Kutta (ARK(sub 2)) methods from third- to fifth-order are presented that allow for integration of stiff terms by an L-stable, stiffly-accurate explicit, singly diagonally implicit Runge-Kutta (ESDIRK) method while the nonstiff terms are integrated with a traditional explicit Runge-Kutta method (ERK). Coupling error terms of the partitioned method are of equal order to those of the elemental methods. Derived ARK(sub 2) methods have vanishing stability functions for very large values of the stiff scaled eigenvalue, z['] yields -infinity, and retain high stability efficiency in the absence of stiffness, z['] yield 0. Extrapolation-type stage- value predictors are provided based on dense-output formulae. Optimized methods minimize both leading order ARK(sub 2) error terms and Butcher coefficient magnitudes as well as maximize conservation properties. Numerical tests of the new schemes on a CDR problem show negligible stiffness leakage and near classical order convergence rates. However, tests on three simple singular-perturbation problems reveal generally predictable order reduction. Error control is best managed with a PID-controller. While results for the fifth-order method are disappointing, both the new third- and fourth-order methods are at least as efficient as existing ARK(sub 2) methods.

Kennedy, Christopher A.↗

Additive Runge-Kutta Schemes for Convection-Diffusion-Reaction Equations

Additive Runge-Kutta (ARK) methods are investigated for application to the spatially discretized one-dimensional convection-diffusion-reaction (CDR) equations. First, accuracy, stability, conservation, and dense output are considered for the general case when N different Runge-Kutta methods are grouped into a single composite method. Then, implicit-explicit, N = 2, additive Runge-Kutta ARK2 methods from third- to fifth-order are presented that allow for integration of stiff terms by an L-stable, stiffly-accurate explicit, singly diagonally implicit Runge-Kutta (ESDIRK) method while the nonstiff terms are integrated with a traditional explicit Runge-Kutta method (ERK). Coupling error terms are of equal order to those of the elemental methods. Derived ARK2 methods have vanishing stability functions for very large values of the stiff scaled eigenvalue, z(exp [I]) goes to infinity, and retain high stability efficiency in the absence of stiffness, z(exp [I]) goes to zero. Extrapolation-type stage-value predictors are provided based on dense-output formulae. Optimized methods minimize both leading order ARK2 error terms and Butcher coefficient magnitudes as well as maximize conservation properties. Numerical tests of the new schemes on a CDR problem show negligible stiffness leakage and near classical order convergence rates. However, tests on three simple singular-perturbation problems reveal generally predictable order reduction. Error control is best managed with a PID-controller. While results for the fifth-order method are disappointing, both the new third- and fourth-order methods are at least as efficient as existing ARK2 methods while offering error control and stage-value predictors.

Kennedy, Christopher A.↗

CHAMP - Camera, Handlens, and Microscope Probe

CHAMP (Camera, Handlens And Microscope Probe) is a novel field microscope capable of color imaging with continuously variable spatial resolution from infinity imaging down to diffraction-limited microscopy (3 micron/pixel). As an arm-mounted imager, CHAMP supports stereo-imaging with variable baselines, can continuously image targets at an increasing magnification during an arm approach, can provide precision range-finding estimates to targets, and can accommodate microscopic imaging of rough surfaces through a image filtering process called z-stacking. Currently designed with a filter wheel with 4 different filters, so that color and black and white images can be obtained over the entire Field-of-View, future designs will increase the number of filter positions to include 8 different filters. Finally, CHAMP incorporates controlled white and UV illumination so that images can be obtained regardless of sun position, and any potential fluorescent species can be identified so the most astrobiologically interesting samples can be identified.

Mungas, G. S.↗