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Joshi, S. M.

Publications and source records attributed to Joshi, S. M..

At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1999

Robust Passification via Optimal Sensor Blending and Control Allocation

Robust passification is considered for uncertain linear, time invariant, systems having redundant actuators and sensors. The approach is to obtain optimal sensor blending and control allocation matrices that maximize the region in the parameter space in which the system remains passive. The approach results in a generalized eigenvalue problem consisting of a number of linear matrix inequalities (LMIs). Reduction of the number of LMIs is investigated, and a numerical example is given for demonstrating the approach.

Joshi, S. M.↗
NASA NTRS1999

Asymptotic Stability of Interconnected Passive Non-Linear Systems

This paper addresses the problem of stabilization of a class of internally passive non-linear time-invariant dynamic systems. A class of non-linear marginally strictly passive (MSP) systems is defined, which is less restrictive than input-strictly passive systems. It is shown that the interconnection of a non-linear passive system and a non-linear MSP system is globally asymptotically stable. The result generalizes and weakens the conditions of the passivity theorem, which requires one of the systems to be input-strictly passive. In the case of linear time-invariant systems, it is shown that the MSP property is equivalent to the marginally strictly positive real (MSPR) property, which is much simpler to check.

Isidori, A.↗
NASA NTRS1999

Synthesis of Optimal Constant-Gain Positive-Real Controllers for Passive Systems

This paper presents synthesis methods for the design of constant-gain positive real controllers for passive systems. The results presented in this paper, in conjunction with the previous work by the authors on passification of non-passive systems, offer a useful synthesis tool for the design of passivity-based robust controllers for non-passive systems as well. Two synthesis approaches are given for minimizing an LQ-type performance index, resulting in optimal controller gains. Two separate algorithms, one for each of these approaches, are given. The synthesis techniques are demonstrated using two numerical examples: control of a flexible structure and longitudinal control of a fighter aircraft.

Mao, Y.↗
NASA NTRS1999

Robust Passification via Optimal Sensor Blending and Control Allocation

Robust passification is considered for uncertain linear, time invariant systems having redundant actuators and sensors. The approach is to obtain optimal sensor blending and control allocation matrices that maximize the region in the parameter space in which the system remains passive. The approach results in a generalized eigenvalue problem consisting of a number of linear matrix inequalities (LMIs). Reduction of the number of LMIs is investigated, and a numerical example is given for demonstrating the approach.

Joshi, S. M.↗
NASA NTRS1999

Synthesis of Optimal Constant-Gain Positive-Real Controllers for Passive Systems

This paper presents synthesis methods for the design of constant-gain positive real controllers for passive systems. The results presented in this paper, in conjunction with the previous work by the authors on passification of non-passive systems, offer a useful synthesis tool for the design of passivity-based robust controllers for non-passive systems as well. Two synthesis approaches are given for minimizing an LQ-type performance index, resulting in optimal controller gains. Two separate algorithms, one for each of these approaches, are given. The synthesis techniques are demonstrated using two numerical examples: control of a flexible structure and longitudinal control of a fighter aircraft.

Mao, Y.↗
NASA NTRS1997

Robust Control of Non-Passive Systems via Passification

This paper presents methods which enable the use of passivity-based control design techniques to control non-passive systems. For inherently non-passive finite- dimensional linear time-invaraint systems, passification methods are presented to render such systems passive by suitable compensation. The passified system can then be controlled by a class of passive linear controllers. The idea is to exploit the robust stability properties of passivity-based control laws for uncertain systems. The proposed passification methods are demonstrated by application to the ACC benchmark problem and to pitch-axis control of an F-18 High Alpha Research Vehicle (HARV) model.

Kelkar, A. G.↗
NASA NTRS1995

Integrated Controls-Structures Design Methodology for Flexible Spacecraft

This paper proposes an approach for the design of flexible spacecraft, wherein the structural design and the control system design are performed simultaneously. The integrated design problem is posed as an optimization problem in which both the structural parameters and the control system parameters constitute the design variables, which are used to optimize a common objective function, thereby resulting in an optimal overall design. The approach is demonstrated by application to the integrated design of a geostationary platform, and to a ground-based flexible structure experiment. The numerical results obtained indicate that the integrated design approach generally yields spacecraft designs that are substantially superior to the conventional approach, wherein the structural design and control design are performed sequentially.

Maghami, P. G.↗
NASA NTRS1994

An optimization-based approach for integrated controls-structures design of flexible spacecraft

The control of flexible spacecraft is a difficult problem because of large number of elastic modes; low value, closely-spaced frequencies; very small damping; and uncertainties in math models. The traditional design approach is to design the structure first and then to design the control system. This view-graph presentation develops a methodology for spacecraft design which addresses control/structure interaction issues, produces technology for simultaneous control/structure design, and translates into algorithms and computational tools for practical integrated computer-aided design.

Maghami, P. G.↗
NASA NTRS1993

Integrated design of the CSI evolutionary structure: A verification of the design methodology

One of the main objectives of the Controls-Structures Interaction (CSI) program is to develop and evaluate integrated controls-structures design methodology for flexible space structures. Thus far, integrated design methodologies for a class of flexible spacecraft, which require fine attitude pointing and vibration suppression with no payload articulation, have been extensively investigated. Various integrated design optimization approaches, such as single-objective optimization, and multi-objective optimization, have been implemented with an array of different objectives and constraints involving performance and cost measures such as total mass, actuator mass, steady-state pointing performance, transient performance, control power, and many more. These studies have been performed using an integrated design software tool (CSI-DESIGN CODE) which is under development by the CSI-ADM team at the NASA Langley Research Center. To date, all of these studies, irrespective of the type of integrated optimization posed or objectives and constraints used, have indicated that integrated controls-structures design results in an overall spacecraft design which is considerably superior to designs obtained through a conventional sequential approach. Consequently, it is believed that validation of some of these results through fabrication and testing of a structure which is designed through an integrated design approach is warranted. The objective of this paper is to present and discuss the efforts that have been taken thus far for the validation of the integrated design methodology.

Maghami, Peiman G.↗
NASA NTRS1992

Design of dissipative low-authority controllers using an eigensystem assignment technique

A novel method for the design of dissipative, low-authority controllers has been developed. The method uses a sequential approach along with eigensystem assignment to compute rate and position gain matrices that assign a number of closed-loop poles of the system to desired locations. Because the feedback gain matrices are symmetric and nonnegative definite, the closed-loop stability is always guaranteed regardless of the model order or parameter inaccuracies. The resulting (nominal) closed-loop system can have specified damping ratios for m modes, which makes the plant amenable to high-authority controller design, using methods such as LQG/LTR or H-infinity. A numerical example is worked out for a flexible structure in order to demonstrate the proposed technique.

Maghami, P. G.↗
NASA NTRS1991

Sensor-actuator placement for flexible structures with actuator dynamics

A novel approach for placement of sensors and actuators in control of flexible space structures is developed. Using an approximation of the control forces and output measurements by spatially continuous functions, the approach follows a nonlinear programming technique to determine optimal locations for sensors and actuators. Two different criteria are considered for the placement of sensors and actuators. The first criterion optimizes the location of the sensors and actuators in order to move the transmission zeros of the system farther to the left of the imaginary axis. The second criterion, however, places the sensors and actuators to optimize a function of the singular values of the Hankel matrix, which includes both measures of controllability and observability. Moreover, the effect of actuator dynamics in the placement of sensors and actuators is investigated.

Maghami, P. G.↗
NASA NTRS1991

Dynamic dissipative compensator design for large space structures

Control system design is considered for attitude control and vibration suppression of flexible space structures. The problem addressed is that of controlling both the zero-frequency rigid-body modes and the elastic modes. Model-based compensators, which employ observers tuned to the plant parameters, are first investigated. Such compensators are shown to generally exhibit high sensitivity to the knowledge of the parameters, especially the elastic mode frequencies. To overcome this problem a class of dynamic dissipative compensators is next proposed, which robustly stabilize the plant in the presence of unmodeled dynamics and parametric uncertainties. An analytical proof of robust stability is given, and a method of implementing the controller as a strictly proper compensator is given. Methods of designing such controllers to obtain optimal performance and robust stability are presented. Numerical and experimental results of application of the methods are presented, which indicate that dynamic dissipative controllers can simultaneously provide excellent performance and robustness.

Joshi, S. M.↗
NASA NTRS1991

Superconductivity in 2-2-3 system Y2Ba2Cu2O(8+delta)

Researchers synthesized a new high T(sub c) 2-2-3 superconductor Y2Ba2Cu3O(8+delta) by a special preparation technique and characterized it by ac-susceptibility measurements. Diamagnetism and Meissner effect sets in at low fields and superconducting transition onsets at 90 K. The systematic investigation of the real and imaginary components of ac-susceptibility as a function of temperature and applied ac magnetic field reveals that the magnetic behavior is that of a granular type superconductor.

Joshi, H. H.↗
NASA NTRS1991

A comparison of controller designs for an experimental flexible structure

Control systems design and hardware testing are addressed for an experimental structure that displays the characteristics of a typical flexible spacecraft. The results of designing and implementing various control design methodologies are described. The design methodologies under investigation include linear quadratic Gaussian control, static and dynamic dissipative controls, and H-infinity optimal control. Among the three controllers considered, it is shown, through computer simulation and laboratory experiments on the evolutionary structure, that the dynamic dissipative controller gave the best results in terms of vibration suppression and robustness with respect to modeling errors.

Lim, K. B.↗
NASA NTRS1991

Integrated controls-structures design - A practical design tool for modern spacecraft

An integrated controls-structures design approach is developed for a class of flexible spacecraft. The integrated design problem is posed in the form of simultaneous optimization of both the structural and the control design variables. The approach is demonstrated by application to the integrated design of a geostationary platform and to a ground-based flexible structure experiment. The numerical results obtained indicate that the integrated design approach can yield spacecraft designs that have substantially superior performance over the conventional design approach wherein the structural design and control design are performed sequentially.

Maghami, P. G.↗
NASA NTRS1990

Superconductivity in 2-2-3 Y2Ba2Cu3O(sub 8+ delta)

Researchers synthesized a new high T(sub c) 2-2-3 superconductor (Y2Ba2Cu3O8+delta) by a special preparation technique and characterized it by ac-susceptibility measurements. Diamagnetism and Meissner effect sets in at low fields and superconducting transition onsets at 90 K. The systematic investigation of the real and imaginary components of ac-susceptibility as a function of temperature and applied ac magnetic field reveals that the magnetic behavior is that of a granular type superconductor.

Joshi, H. H.↗