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NASA NTRS1990

Small gain robustness issues in the p-integrator repetitive controller

The basic theory of the digital p-integrator controller is utilized to modify the command to a stable analog feedback control system in order to produce zero tracking error of a repetitive command. Mapping of continuous time poles and zeros to the images in the discrete time domain is performed. It is shown that for a pole excess of one, with p odd, the p-integrator learning controller will often produce a stable learning process, even for relatively large sample times. For a pole excess of two, a stable learning process can often be achieved for any p as long as the sample time is kept sufficiently short. Therefore, when the pole excess is zero and one utilizes the proper p-integrator controller with p odd, stable performance is often produced, even for relatively large sample times.

Longman, Richard W.↗

NASA NTRS1991

Suppression of biodynamic interference in head-tracked teleoperation

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Lifshitz, S.↗

NASA NTRS1991

Neural network application to aircraft control system design

The feasibility of using artificial neural networks as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research are identified to enhance the practical applicability of neural networks to flight control design.

Troudet, Terry↗

NASA NTRS1990

The mini-dome Fresnel lens photovoltaic concentrator array - Current status of component and prototype panel testing

NASA Lewis and ENTECH have been developing a high-efficiency, lightweight space photovoltaic concentrator array. The emphasis of the program has shifted to fabrication and testing of the minidome Fresnel lens and other array components. Protototype lenses have been tested for optical efficiency, with results around 90 percent, and tracking error performance. The results of these tests have been very consistent with the predicted analytical performance. Work has also progressed in the fabrication of the array support structure. Recent advances in 30 percent efficient stacked cell technology will have a significant effect on the array performance. It is concluded that near-term array performance goals of 300 W/sq m and 100 W/kg are feasible.

Piszczor, M. F.↗

NASA NTRS1991

Optimization of lateral-directional dynamics for an aircraft operating at high angle of attack

In this paper, the control laws for the lateral-directional dynamics of a supermaneuverable aircraft is analyzed with a view to reducing the levels of lateral acceleration and sideslip, which are encountered during aggressive rolling maneuvers at high angles of attack. The analysis uses a linearized model of the lateral-directional dynamics and thus H-free-flow techniques can be applied. It is shown that trade-offs exist between simultaneously minimizing lateral acceleration measured at the pilot's station, ny(p), minimizing sideslip and minimizing tracking errors between the roll-rate about the velocity vector and its command. The paper concludes that a significant reduction in ny(p) is only attainable by compromising the roll-rate performance.

Snell, S. A.↗

NASA NTRS1991

Neural network application to aircraft control system design

The feasibility of using artificial neural network as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research identified to enhance the practical applicability of neural networks to flight control design.

Troudet, Terry↗

NASA NTRS1991

A comparison of optical technologies for a high data rate Mars link

Several optical systems, based on Nd:YAG, GaAs, and CO2 laser sources and employing both direct and heterodyne detection, are analyzed in order to assess their feasibility in providing high data rate (10-1000 Mbps) Mars-to-earth communications. The rms pointing/tracking accuracy is shown to be a critical parameter in defining the Mars-earth optical link. Data obtained reveal that unless, extremely small rms pointing and tracking errors can be achieved (sigma less than .2 microrad), the most promising optical implementation appears to be the Nd:YAG laser using direct detection and high order PPM modulation.

Spence, Rodney L.↗

NASA NTRS1992

Design and evaluation of a robust dynamic neurocontroller for a multivariable aircraft control problem

The design of a dynamic neurocontroller with good robustness properties is presented for a multivariable aircraft control problem. The internal dynamics of the neurocontroller are synthesized by a state estimator feedback loop. The neurocontrol is generated by a multilayer feedforward neural network which is trained through backpropagation to minimize an objective function that is a weighted sum of tracking errors, and control input commands and rates. The neurocontroller exhibits good robustness through stability margins in phase and vehicle output gains. By maintaining performance and stability in the presence of sensor failures in the error loops, the structure of the neurocontroller is also consistent with the classical approach of flight control design.

Troudet, T.↗

NASA NTRS1991

Welding technology transfer task/laser based weld joint tracking system for compressor girth welds

Sensors to control and monitor welding operations are currently being developed at Marshall Space Flight Center. The laser based weld bead profiler/torch rotation sensor was modified to provide a weld joint tracking system for compressor girth welds. The tracking system features a precision laser based vision sensor, automated two-axis machine motion, and an industrial PC controller. The system benefits are elimination of weld repairs caused by joint tracking errors which reduces manufacturing costs and increases production output, simplification of tooling, and free costly manufacturing floor space.

Looney, Alan↗

NASA NTRS1990

Suppression of biodynamic interference in head-tracked teleoperation

Results are reported from an experimental simulation study examining improvements achievable in pointing and tracking precision using dynamic display shifting in helmet-mounted displays. The experiment was conducted in a 6-deg-of-freedom motion base simulator with an emulated helmet-mounted sight. It is shown that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination is considered to exhibit the best overall display dynamics by each of the subjects.

Lifshitz, S.↗

NASA NTRS1992

Disturbance rejection in repetitive controllers

The p-integrator is a digital controller that learns from previous experience executing a repetitive command in order to improve its performance in future repetitions. This class of repetitive controller is an analog of the integral controller of classical control theory. This paper addresses several issues related to the performance of the p-integrator. This is followed by a derivation that will demonstrate the repetitive disturbance rejection capabilities of the controller. The effect of the tracking performance in practical implementations with prefiltering and postfiltering devices are studied - using an exact and approximate formulation. Relations showing the actual system response during steady state operation with these filters are derived. The results are then extended to include the tracking error performance of systems subjected to repetitive disturbances. Finally, the system response between sample times is developed.

Solcz, Edward J.↗

NASA NTRS1992

Research Studies on Advanced Optical Module/Head Designs for Optical Data Storage

Preprints are presented from the recent 1992 Optical Data Storage meeting in San Jose. The papers are divided into the following topical areas: Magneto-optical media (Modeling/design and fabrication/characterization/testing); Optical heads (holographic optical elements); and Optical heads (integrated optics). Some representative titles are as follow: Diffraction analysis and evaluation of several focus and track error detection schemes for magneto-optical disk systems; Proposal for massively parallel data storage system; Transfer function characteristics of super resolving systems; Modeling and measurement of a micro-optic beam deflector; Oxidation processes in magneto-optic and related materials; and A modal analysis of lamellar diffraction gratings in conical mountings.

Source record↗

NASA NTRS1992

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

Many robotic applications involve time-varying payloads during the operation of the robot. It is therefore of interest to consider control schemes that deal with time-varying parameters. Using the properties of the element by element (or Hadarmad) product of matrices, we obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems.

Song, Y. D.↗

NASA NTRS1992

Application of new GPS aircraft control/display system to topographic mapping of the Greenland ice cap

A new PC-based GPS flight management display system (GFMS) was developed for Greenland ice cap mapping during the NASA Greenland Ice Sheet mapping experiment, when a total of nine flights were made over four different flight tracks, of which two coincided with ground tracks of the ERS altimeter satellite. In this system, the GFMS inputs the GPS position data to a PC, which generates aircraft automatic pilot steering commands and a cockpit display. The display includes (1) the course deviation indicators for cross-track error and altitude, (2) the flight plan and waypoint map overlay oriented to the aircraft, and (3) various other mission-pertinent numerical data.

Wright, C. W.↗

NASA NTRS1992

Design and evaluation of a robust dynamic neurocontroller for a multivariable aircraft control problem

Troudet, T.↗

NASA NTRS1992

A new learning strategy for the two-time-scale neural controller with its application to the tracking control of rigid arms

A novel fast learning rule with fast weight identification is proposed for the two-time-scale neural controller, and a two-stage learning strategy is developed for the proposed neural controller. The results of the stability analysis show that both the tracking error and the fast weight error will be uniformly bounded and converge to a bounded region which depends only on the accuracy of the slow learning if the system is sufficiently excited. The efficiency of the two-stage learning is also demonstrated by a simulation of a two-link arm.

Cheng, W.↗

NASA NTRS1992

Analysis of a spatial tracking subsystem for optical communications

Spatial tracking plays a very critical role in designing optical communication systems because of the small angular beamwidth associated with the optical signal. One possible solution for spatial tracking is to use a nutating mirror which dithers the incoming beam at a rate much higher than the mechanical disturbances. A power detector then senses the change in detected power as the signal is reflected off the nutating mirror. This signal is then correlated with the nutator driver signals to obtain estimates of the azimuth and elevation tracking signals to control the fast scanning mirrors. A theoretical analysis is performed for a spatial tracking system using a nutator disturbed by shot noise and mechanical vibrations. Contributions of shot noise and mechanical vibrations to the total tracking error variance are derived. Given the vibration spectrum and the expected signal power, there exists an optimal amplitude for the nutation which optimizes the receiver performance. The expected performance of a nutator based system is estimated based on the choice of nutation amplitude.

Win, Moe Z.↗

NASA NTRS1992

Indirect decentralized learning control

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper develops improved indirect learning control algorithms, and studies the use of such controllers in decentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. The basic result of the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

Longman, Richard W.↗