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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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At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators

A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.

Sicard, Pierre↗
NASA NTRS1976

A jet engine control problem for evaluating minimal design software

The problem of designing feedforward and feedback compensators to achieve a specified closed loop performance matrix is shown to reduce to a minimal design problem. Existing results for the F100 turbofan engine can be interpreted to yield the closed loop specifications for the associated control problem - and also a possible solution. All possible solutions can be enumerated by computing the kernel of a polynomial matrix. It is shown how this matrix can be obtained from the formulation of the minimal design problem.

Gejji, R. R.↗
DOE OSTI2023

Active Fault Current Limiting Control for Half-Bridge MMC in HVDC Systems

DC faults of MMC can result in a significantly large fault current due to the discharge of submodule capacitors. The fault current not only risks damaging the MMC but also demands a considerable breaking capacity from the dc circuit breaker (DCCBs). This paper introduces two novel active fault current limiting methods (AFCLs), namely virtual impedance-based and energy control-based AFCL. The first method utilizes circulating current feedforward, which introduces a virtual arm impedance to suppress the rate of rise of the fault current. Meanwhile, the second method relies on the control of the internally stored energy of the MMC to automatically minimize the number of submodules that discharge during a dc-side fault. Therefore, both the dc-side current and the MMC arm current can be effectively suppressed after the occurrence of the fault. The proposed methods do not require fault detection and their response is proportional to the rate of rise in the fault current. Simulation case studies are presented to demonstrate the proposed methods.

active current limiting control↗
NASA NTRS1991

Application of modern control design methodology to oblique wing research aircraft

A Linear Quadratic Regulator synthesis technique was used to design an explicit model following control system for the Oblique Wing Research Aircraft (OWRA). The forward path model (Maneuver Command Generator) was designed to incorporate the desired flying qualities and response decoupling. The LQR synthesis was based on the use of generalized controls, and it was structured to provide a proportional/integral error regulator with feedforward compensation. An unexpected consequence of this design approach was the ability to decouple the control synthesis into separate longitudinal and lateral directional designs. Longitudinal and lateral directional control laws were generated for each of the nine design flight conditions, and gain scheduling requirements were addressed. A fully coupled 6 degree of freedom open loop model of the OWRA along with the longitudinal and lateral directional control laws was used to assess the closed loop performance of the design. Evaluations were performed for each of the nine design flight conditions.

Vincent, James H.↗
NASA NTRS2012

Bi-Objective Optimal Control Modification Adaptive Control for Systems with Input Uncertainty

This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

Nguyen, Nhan T.↗
NASA NTRS1992

Microgravity vibration isolation: Optimal preview and feedback control

In order to achieve adequate low-frequency vibration isolation for certain space experiments an active control is needed, due to inherent passive-isolator limitations. Proposed here are five possible state-space models for a one-dimensional vibration isolation system with a quadratic performance index. The five models are subsets of a general set of nonhomogeneous state space equations which includes disturbance terms. An optimal control is determined, using a differential equations approach, for this class of problems. This control is expressed in terms of constant, Linear Quadratic Regulator (LQR) feedback gains and constant feedforward (preview) gains. The gains can be easily determined numerically. They result in a robust controller and offers substantial improvements over a control that uses standard LQR feedback alone.

Hampton, R. D.↗
NASA NTRS1992

Robust manipulator controller specification and design

This paper suggests the use of a model based control law which uses joint rate feedback to stabilize the contact modes, and joint velocity feedforward to provide the required freespace performance throughout a task. An additional benefit of this controller is the capability to stiffen a soft manipulator. This provides an option for impedance control to provide any desired manipulator stiffness. Impedance control is implemented as an outer Cartesian loop which uses the dynamic relationship between manipulator commanded position and applied force to change the mechanical impedance through programmable filter coefficients. The impedance control discussed in this paper does not give the capability to specify the full impedance of the manipulator. However, it does give the capability to specify the manipulator Cartesian stiffness while maintaining stability in contact with the environment. This controller was designed for the Flight Telerobotic Servicer dextrous manipulator and has been validated experimentally on a single joint controller, as well as on 3 DOF planar arms.

Goldenberg, Stewart↗
NASA NTRS1991

The attitude control problem

A general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body. The controllers share the common structure of a proportional-derivative feedback plus some feedforward which can be zero (the model-independent case), the Coriolis torque compensation, or an adaptive compensation. These controller structures are compared in terms of the requirement on the a priori model information, guaranteed transient performance, and robustness. The global stability of the Luh-Walker-Paul robot end-effector controller is also analyzed in this framework.

Wen, John Ting-Yung↗
NASA NTRS1992

Learning and tuning fuzzy logic controllers through reinforcements

A new method for learning and tuning a fuzzy logic controller based on reinforcements from a dynamic system is presented. In particular, our Generalized Approximate Reasoning-based Intelligent Control (GARIC) architecture: (1) learns and tunes a fuzzy logic controller even when only weak reinforcements, such as a binary failure signal, is available; (2) introduces a new conjunction operator in computing the rule strengths of fuzzy control rules; (3) introduces a new localized mean of maximum (LMOM) method in combining the conclusions of several firing control rules; and (4) learns to produce real-valued control actions. Learning is achieved by integrating fuzzy inference into a feedforward network, which can then adaptively improve performance by using gradient descent methods. We extend the AHC algorithm of Barto, Sutton, and Anderson to include the prior control knowledge of human operators. The GARIC architecture is applied to a cart-pole balancing system and has demonstrated significant improvements in terms of the speed of learning and robustness to changes in the dynamic system's parameters over previous schemes for cart-pole balancing.

Berenji, Hamid R.↗
NASA NTRS1992

Learning and tuning fuzzy logic controllers through reinforcements

This paper presents a new method for learning and tuning a fuzzy logic controller based on reinforcements from a dynamic system. In particular, our generalized approximate reasoning-based intelligent control (GARIC) architecture (1) learns and tunes a fuzzy logic controller even when only weak reinforcement, such as a binary failure signal, is available; (2) introduces a new conjunction operator in computing the rule strengths of fuzzy control rules; (3) introduces a new localized mean of maximum (LMOM) method in combining the conclusions of several firing control rules; and (4) learns to produce real-valued control actions. Learning is achieved by integrating fuzzy inference into a feedforward neural network, which can then adaptively improve performance by using gradient descent methods. We extend the AHC algorithm of Barto et al. (1983) to include the prior control knowledge of human operators. The GARIC architecture is applied to a cart-pole balancing system and demonstrates significant improvements in terms of the speed of learning and robustness to changes in the dynamic system's parameters over previous schemes for cart-pole balancing.

Berenji, Hamid R.↗
NASA NTRS1991

Neural Networks Of VLSI Components

Concept for design of electronic neural network calls for assembly of very-large-scale integrated (VLSI) circuits of few standard types. Each VLSI chip, which contains both analog and digital circuitry, used in modular or "building-block" fashion by interconnecting it in any of variety of ways with other chips. Feedforward neural network in typical situation operates under control of host computer and receives inputs from, and sends outputs to, other equipment.

Eberhardt, Silvio P.↗
NASA NTRS1978

Approach guidance logic for a tilt-rotor aircraft

The distinctive feature of a tilt-rotor aircraft is that the pilot can change the rotor mast angles to go from a helicopter configuration for take-off and landing to an airplane configuration for high cruise speeds and vice-versa. An approach path for such an aircraft is proposed and the logic required to fly along this path in the presence of wind is determined. The main contribution of this work is an efficient and, to my knowledge, new method for generating the nominal state and control histories taking into account an estimate of the mean wind velocity and direction. The method requires the solution of algebraic (mostly linear) equations to generate a 'universal nominal', and feedforward and feedback gains. Then, in flight the additional state and control corrections due to deviation in descent rate, deceleration, and flight in a steady wind are obtained by multiplying simple precalculated functions of time by descent rate, deceleration or sine and cosine components of the mean wind vector. Simulations of approach flights for different wind conditions, assuming perfect state information in the feedback signal, indicated satisfactory performance.

Beser, J.↗
NASA NTRS1983

A novel feedforward compensation canceling input filter-regulator interaction

The interaction between the input and the control loop of switching regulators often results in deterimental effects, such as loop instability, degradation of transient response, and audiosusceptibility, etc. The concept of pole-zero cancelation is employed to mitigate some of these detrimental effects and is implemented using a novel feedforward loop, in addition to existing feedback loops of a buck regulator. Experimental results are presented which show excellent correlation with theory.

Kelkar, S. S.↗
NASA NTRS2003

Modeling beta-adrenergic control of cardiac myocyte contractility in silico

The beta-adrenergic signaling pathway regulates cardiac myocyte contractility through a combination of feedforward and feedback mechanisms. We used systems analysis to investigate how the components and topology of this signaling network permit neurohormonal control of excitation-contraction coupling in the rat ventricular myocyte. A kinetic model integrating beta-adrenergic signaling with excitation-contraction coupling was formulated, and each subsystem was validated with independent biochemical and physiological measurements. Model analysis was used to investigate quantitatively the effects of specific molecular perturbations. 3-Fold overexpression of adenylyl cyclase in the model allowed an 85% higher rate of cyclic AMP synthesis than an equivalent overexpression of beta 1-adrenergic receptor, and manipulating the affinity of Gs alpha for adenylyl cyclase was a more potent regulator of cyclic AMP production. The model predicted that less than 40% of adenylyl cyclase molecules may be stimulated under maximal receptor activation, and an experimental protocol is suggested for validating this prediction. The model also predicted that the endogenous heat-stable protein kinase inhibitor may enhance basal cyclic AMP buffering by 68% and increasing the apparent Hill coefficient of protein kinase A activation from 1.0 to 2.0. Finally, phosphorylation of the L-type calcium channel and phospholamban were found sufficient to predict the dominant changes in myocyte contractility, including a 2.6x increase in systolic calcium (inotropy) and a 28% decrease in calcium half-relaxation time (lusitropy). By performing systems analysis, the consequences of molecular perturbations in the beta-adrenergic signaling network may be understood within the context of integrative cellular physiology.

Non-NASA Center↗
NASA NTRS1990

A discrete-time adaptive control scheme for robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Tarokh, M.↗
NASA NTRS1991

Active isolation of vibrations with adaptive structures

Vibration transmission in structures is controlled by means of a technique which employs distributed arrays of piezoelectric transducers bonded to the supporting structure. Distributed PVDF piezoelectric strips are employed as error sensors, and a two-channel feedforward adaptive LMS algorithm is used for minimizing error signals and thereby controlling the structure. A harmonic force input excites a thick plate, and a receiving plate is configured with three pairs of piezoelectric actuators. Modal analyses are performed to determine the resonant frequencies of the system, and a scanning laser vibrometer is used to study the shape of the response of the receiving plate during excitation with and without the control algorithm. Efficient active isolation of the vibrations is achieved with modal suppression, and good control is noted in the on-resonance cases in which increased numbers of PVDF sensors and piezoelectric actuators are employed.

Guigou, C.↗
NASA NTRS1981

Shuttle infrared telescope facility pointing and control system

The Shuttle Infrared Telescope Facility (SIRTF) is being designed as a 0.85 m cryogenically cooled telescope capable of a three order of magnitude improvement over currently available infrared instruments. The SIRTF requires that the image at the focal plane be stabilized to better than 0.25 arcsec with an absolute accuracy of 1.0 arcsec. Current pointing-mount performance simulations indicate that neither of these requirements can be met without additional stabilization. The SIRTF pointing and control system will utilize gyro outputs, star field position measurements from a focal plane fine guidance sensor, and a steerable secondary mirror to provide the necessary stabilization and pointing control. The charge coupled device fine guidance sensor tracks multiple stars simultaneously and, through the use of multistar processing algorithms in a high performance microcomputer, generates three-axis attitude errors and gyro-drift estimates to correct the pointing-mount gyros. A high-bandwidth feedforward loop, driven directly from the pointing-mount gyro package, controls the steering mirror in order to correct disturbances not compensated for by the pointing-mount control system. A prototype design for the SIRTF pointing and control system is described in detail. Performance analyses made using a digital simulation of the pointing and control system as well as experimental data obtained in laboratory and field test measurements are presented.

Lorell, K. R.↗