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NASA NTRS1995

Harmonic oscillators and resonance series generated by a periodic unstable classical orbit

The presence of an unstable periodic classical orbit allows one to introduce the decay time as a purely classical magnitude: inverse of the Lyapunov index which characterizes the orbit instability. The Uncertainty Relation gives the corresponding resonance width which is proportional to the Planck constant. The more elaborate analysis is based on the parabolic equation method where the problem is effectively reduced to the multidimensional harmonic oscillator with the time-dependent frequency. The resonances form series in the complex energy plane which is equidistant in the direction perpendicular to the real axis. The applications of the general approach to various problems in atomic physics are briefly exposed.

Kazansky, A. K.↗

NASA NTRS1995

A class of stabilizing controllers for flexible multibody systems

The problem of controlling a class of nonlinear multibody flexible space systems consisting of a flexible central body to which a number of articulated appendages are attached is considered. Collocated actuators and sensors are assumed, and global asymptotic stability of such systems is established under a nonlinear dissipative control law. The stability is shown to be robust to unmodeled dynamics and parametric uncertainties. For a special case in which the attitude motion of the central body is small, the system, although still nonlinear, is shown to be stabilized by linear dissipative control laws. Two types of linear controllers are considered: static dissipative (constant gain) and dynamic dissipative. The static dissipative control law is also shown to provide robust stability in the presence of certain classes of actuator and sensor nonlinearities and actuator dynamics. The results obtained for this special case can also be readily applied for controlling single-body linear flexible space structures. For this case, a synthesis technique for the design of a suboptimal dynamic dissipative controller is also presented. The results obtained in this paper are applicable to a broad class of multibody and single-body systems such as flexible multilink manipulators, multipayload space platforms, and space antennas. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems.

Joshi, Suresh M.↗

NASA NTRS1994

Robust control of nonlinear flexible multibody systems using quaternion feedback and dissipative compensation

Global asymptotic stability of a class of nonlinear multibody flexible space-stnuctures under dissipative compensation is established. Two cases are considered. The first case allows unlimited nonlinear motions of the entire system and uses quaternion feedback. The second case assumes that the central body motion is in the linear range although the other bodies can undergo unrestricted nonlinear motion. The stability is proved to be robust to the inherent modeling nonlinearities and uncertainties. Furthermore for the second case the stability is also shown to be robust to certain actuator and sensor nonlinearities. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems. The results are applicable to a wide class of systems including flexible space-structures with articulated flexible appendages.

Kelkar, Atul G.↗

NASA NTRS1994

Mixing by barotropic instability in a nonlinear model

A global, nonlinear, equivalent barotropic model is used to study the isentropic mixing of passive tracers by barotropic instability. Basic states are analytical zonal-mean jets representative of the zonal-mean flow in the upper stratosphere, where the observed 4-day wave is thought to be a result of barotropic, and possibly baroclinic, instability. As is known from previous studies, the phase speed and growth rate of the unstable waves is fairly sensitive to the shape of the zonal-mean jet; and the dominant wave mode at saturation is not necessarily the fastest growing mode; but the unstable modes share many features of the observed 4-day wave. Lagrangian trajectories computed from model winds are used to characterize the mixing by the flow. For profiles with both midlatitude and polar modes, mixing is stronger in midlatitude than inside the vortex; but there is little exchange of air across the vortex boundary. There is a minimum in the Lyapunov exponents of the flow and the particle dispersion at the jet maximum. For profiles with only polar unstable modes, there is weak mixing inside the vortex, no mixing outside the vortex, and no exchange of air across the vortex boundary. These results support the theoretical arguments that, whether wave disturbances are generated by local instability or propagate from other regions, the mixing properties of the total flow are determined by the locations of the wave critical lines and that strong gradients of potential vorticity are very resistant to mixing.

Bowman, Kenneth P.↗

NASA NTRS1993

Minimizing distortion in truss structures -- a Hopfield network solution

Distortions in truss structures can result from random errors in elemental lengths that are typical of a manufacturing process. These distortions may be minimized by an optimal selection of elements from those available for placement between the prescribed nodes -- a combinatorial optimization problem requiring significant investment of computational resource for all but the smallest problems. The present paper describes a formulation in which near-optimal element assignments are obtained as minimum energy, stable states, of an analogous Hopfield neural network. This requires mapping of the optimization problem into an energy function of the appropriate Lyapunov form. The computational architecture is ideally suited to a parallel processor implementation and offers significant savings in computational effort. A numerical implementation of the approach is discussed with reference to planar truss problems.

Fu, B.↗

NASA NTRS1993

Optimal open-loop and feedback control using single gimbal control moment gyroscopes

Methods for control of spacecraft maneuvers through the use of single gimbal control moment gyroscopes are developed. The development employs an integrated model of the spacecraft dynamics with the control moment gyroscope dynamics. Smooth and continuous open-loop control profiles are obtained which minimize a weighted function of maneuver time, magnitude of control effort, and proximity to singular gimbal configurations. Closed-loop state feedback control laws are derived by invoking Lyapunov stability theory. The schemes are presented for implementing the commanded state feedback: gimbal rate control and gimbal acceleration control. The appropriate handling of singular gimbal configurations is also discussed.

Hoelscher, Brian R.↗

NASA NTRS1993

Attitude control of spacecraft using neural networks

This paper investigates the use of radial basis function neural networks for adaptive attitude control and momentum management of spacecraft. In the first part of the paper, neural networks are trained to learn from a family of open-loop optimal controls parameterized by the initial states and times-to-go. The trained is then used for closed-loop control. In the second part of the paper, neural networks are used for direct adaptive control in the presence of unmodeled effects and parameter uncertainty. The control and learning laws are derived using the method of Lyapunov.

Vadali, Srinivas R.↗

NASA NTRS1993

Solar flux forecasting using mutual information with an optimal delay

Solar flux F(sub 10.7) directly affects the atmospheric density, thereby changing the lifetime and prediction of satellite orbits. For this reason, accurate forecasting of F(sub 10.7) is crucial for orbit determination of spacecraft. Our attempts to model and forecast F(sub 10.7) uncovered highly entangled dynamics. We concluded that the general lack of predictability in solar activity arises from its nonlinear nature. Nonlinear dynamics allow us to predict F(sub 10.7) more accurately than is possible using stochastic methods for time scales shorter than a characteristic horizon, and with about the same accuracy as using stochastic techniques when the forecasted data exceed this horizon. The forecast horizon is a function of two dynamical invariants: the attractor dimension and the Lyapunov exponent. In recent years, estimation of the attractor dimension reconstructed from a time series has become an important tool in data analysis. In calculating the invariants of the system, the first necessary step is the reconstruction of the attractor for the system from the time-delayed values of the time series. The choice of the time delay is critical for this reconstruction. For an infinite amount of noise-free data, the time delay can, in principle, be chosen almost arbitrarily. However, the quality of the phase portraits produced using the time-delay technique is determined by the value chosen for the delay time. Fraser and Swinney have shown that a good choice for this time delay is the one suggested by Shaw, which uses the first local minimum of the mutual information rather than the autocorrelation function to determine the time delay. This paper presents a refinement of this criterion and applies the refined technique to solar flux data to produce a forecast of the solar activity.

Ashrafi, S.↗

NASA NTRS1994

Some Properties and Stability Results for Sector-Bounded LTI Systems

This paper presents necessary and sufficient conditions for a linear, time-invariant (LTI) system to be inside sector (n, b) in terms of linear matrix inequalities in its state-space realization matrices, which represents a generalization of similar conditions for bounded H(sub infinity)-norm systems. Further, a weaker definition of LTI systems strictly inside closed sector (a, b) is proposed, and state-space characterization of such systems is presented. Sector conditions for stability of the negative feedback interconnection of two LTI systems and for stability of LTI systems with feedback nonlinearities are investigated using the Lyapunov function approach. It is shown that the proposed weaker conditions for an LTI system to be strictly inside a sector are sufficient to establish closed-loop stability of these systems.

Gupta, Sandeep↗

NASA NTRS1996

Regular and Chaotic Quantum Dynamics of Two-Level Atoms in a Selfconsistent Radiation Field

Dynamics of two-level atoms interacting with their own radiation field in a single-mode high-quality resonator is considered. The dynamical system consists of two second-order differential equations, one for the atomic SU(2) dynamical-group parameter and another for the field strength. With the help of the maximal Lyapunov exponent for this set, we numerically investigate transitions from regularity to deterministic quantum chaos in such a simple model. Increasing the collective coupling constant b is identical with 8(pi)N(sub 0)(d(exp 2))/hw, we observed for initially unexcited atoms a usual sharp transition to chaos at b(sub c) approx. equal to 1. If we take the dimensionless individual Rabi frequency a = Omega/2w as a control parameter, then a sequence of order-to-chaos transitions has been observed starting with the critical value a(sub c) approx. equal to 0.25 at the same initial conditions.

Konkov, L. E.↗

NASA NTRS1996

On longitudinal control of high speed aircraft in the presence of aeroelastic modes

Longitudinal control system design is considered for a linearized dynamic model of a supersonic transport aircraft concept characterized by relaxed static stability and significant aeroelastic interactions. Two LQG-type controllers are designed using the frequency-domain additive uncertainty formulation to ensure robustness to unmodeled flexible modes. The first controller is based on a 4th-order model containing only the rigid-body modes, while the second controller is based on an 8th-order model that additionally includes the two most prominent flexible modes. The performance obtainable from the 4th-order controller is not adequate, while the 8th-order controller is found to provide better performance. Frequency-domain and time-domain (Lyapunov) methods are subsequently used to assess the robustness of the 8th-order controller to parametric uncertainties in the design model.

Joshi, Suresh M.↗

NASA NTRS1999

Optimal Variable-Structure Control Tracking of Spacecraft Maneuvers

An optimal control approach using variable-structure (sliding-mode) tracking for large angle spacecraft maneuvers is presented. The approach expands upon a previously derived regulation result using a quaternion parameterization for the kinematic equations of motion. This parameterization is used since it is free of singularities. The main contribution of this paper is the utilization of a simple term in the control law that produces a maneuver to the reference attitude trajectory in the shortest distance. Also, a multiplicative error quaternion between the desired and actual attitude is used to derive the control law. Sliding-mode switching surfaces are derived using an optimal-control analysis. Control laws are given using either external torque commands or reaction wheel commands. Global asymptotic stability is shown for both cases using a Lyapunov analysis. Simulation results are shown which use the new control strategy to stabilize the motion of the Microwave Anisotropy Probe spacecraft.

John L. Crassidis↗

NASA NTRS1999

Development of An Intelligent Flight Propulsion Control System

The initial design and demonstration of an Intelligent Flight Propulsion and Control System (IFPCS) is documented. The design is based on the implementation of a nonlinear adaptive flight control architecture. This initial design of the IFPCS enhances flight safety by using propulsion sources to provide redundancy in flight control. The IFPCS enhances the conventional gain scheduled approach in significant ways: (1) The IFPCS provides a back up flight control system that results in consistent responses over a wide range of unanticipated failures. (2) The IFPCS is applicable to a variety of aircraft models without redesign and,(3) significantly reduces the laborious research and design necessary in a gain scheduled approach. The control augmentation is detailed within an approximate Input-Output Linearization setting. The availability of propulsion only provides two control inputs, symmetric and differential thrust. Earlier Propulsion Control Augmentation (PCA) work performed by NASA provided for a trajectory controller with pilot command input of glidepath and heading. This work is aimed at demonstrating the flexibility of the IFPCS in providing consistency in flying qualities under a variety of failure scenarios. This report documents the initial design phase where propulsion only is used. Results confirm that the engine dynamics and associated hard nonlineaaities result in poor handling qualities at best. However, as demonstrated in simulation, the IFPCS is capable of results similar to the gain scheduled designs of the NASA PCA work. The IFPCS design uses crude estimates of aircraft behaviour. The adaptive control architecture demonstrates robust stability and provides robust performance. In this work, robust stability means that all states, errors, and adaptive parameters remain bounded under a wide class of uncertainties and input and output disturbances. Robust performance is measured in the quality of the tracking. The results demonstrate the flexibility of the IFPCS architecture and the ability to provide robust performance under a broad range of uncertainty. Robust stability is proved using Lyapunov like analysis. Future development of the IFPCS will include integration of conventional control surfaces with the use of propulsion augmentation, and utilization of available lift and drag devices, to demonstrate adaptive control capability under a greater variety of failure scenarios. Further work will specifically address the effects of actuator saturation.

Calise, A. J.↗

NASA NTRS1998

Adaptive Fuzzy Control of a Direct Drive Motor: Experimental Aspects

This paper presents a state feedback adaptive control method for position and velocity control of a direct drive motor. The proposed control scheme allows for integrating heuristic knowledge with mathematical knowledge of a system. It performs well even when mathematical model of the system is poorly understood. The controller consists of an adaptive fuzzy controller and a supervisory controller. The supervisory controller requires only knowledge of the upper bound and lower bound of the system parameters. The fuzzy controller is based on fuzzy basis functions and states of the system. The adaptation law is derived based on the Lyapunov function which ensures that the state of the system asymptotically approaches zero. The proposed controller is applied to a direct drive motor with payload and parameter uncertainty, and the effectiveness is experimentally verified. The real-time performance is compared with simulation results.

Medina, E.↗

NASA NTRS2000

Controlling Chaos Via Knowledge of Initial Condition for a Curved Structure

Nonlinear response of a flexible curved panel exhibiting bifurcation to fully developed chaos is demonstrated along with the sensitivity to small perturbation from the initial conditions. The response is determined from the measured time series at two fixed points. The panel is forced by an external nonharmonic multifrequency and monofrequency sound field. Using a low power time-continuous feedback control, carefully tuned at each initial condition, produces large long-term effects on the dynamics toward taming chaos. Without the knowledge of the initial conditions, control may be achieved by destructive interference. In this case, the control power is proportional to the loading power. Calculation of the correlation dimension and the estimation of positive Lyapunov exponents, in practice, are the proof of chaotic response.

Maestrello, L.↗

NASA NTRS1997

Adaptive Fuzzy Control of a Direct Drive Motor

Medina, E.↗

NASA NTRS1995

The Dripping Handrail Model: Transient Chaos in Accretion Systems

We define and study a simple dynamical model for accretion systems, the "dripping handrail" (DHR). The time evolution of this spatially extended system is a mixture of periodic and apparently random (but actually deterministic) behavior. The nature of this mixture depends on the values of its physical parameters - the accretion rate, diffusion coefficient, and density threshold. The aperiodic component is a special kind of deterministic chaos called transient chaos. The model can simultaneously exhibit both the quasiperiodic oscillations (QPO) and very low frequency noise (VLFN) that characterize the power spectra of fluctuations of several classes of accretion systems in astronomy. For this reason, our model may be relevant to many such astrophysical systems, including binary stars with accretion onto a compact object - white dwarf, neutron star, or black hole - as well as active galactic nuclei. We describe the systematics of the DHR's temporal behavior, by exploring its physical parameter space using several diagnostics: power spectra, wavelet "scalegrams," and Lyapunov exponents. In addition, we note that for large accretion rates the DHR has periodic modes; the effective pulse shapes for these modes - evaluated by folding the time series at the known period - bear a resemblance to the similarly- determined shapes for some x-ray pulsars. The pulsing observed in some of these systems may be such periodic-mode accretion, and not due to pure rotation as in the standard pulsar model.

Young, Karl↗

NASA NTRS2000

Parametric Modeling and Fault Tolerant Control

Fault tolerant control is considered for a nonlinear aircraft model expressed as a linear parameter-varying system. By proper parameterization of foreseeable faults, the linear parameter-varying system can include fault effects as additional varying parameters. A recently developed technique in fault effect parameter estimation allows us to assume that estimates of the fault effect parameters are available on-line. Reconfigurability is calculated for this model with respect to the loss of control effectiveness to assess the potentiality of the model to tolerate such losses prior to control design. The control design is carried out by applying a polytopic method to the aircraft model. An error bound on fault effect parameter estimation is provided, within which the Lyapunov stability of the closed-loop system is robust. Our simulation results show that as long as the fault parameter estimates are sufficiently accurate, the polytopic controller can provide satisfactory fault-tolerance.

Wu, N. Eva↗