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NASA NTRS1973

The Lyapunov stabilization of satellite equations of motion using integrals

A method is introduced that weakens the Lyapunov or in track instability of satellite equations of motion. The method utilizes a linearized energy integral of satellite motion as a constraint on solutions obtained by numerical integration. The procedure prevents local numerical error from altering the frequency associated with the fast angular variable and thereby reduces the Lyapunov instability and the global numerical error. Applications of the method to satellite motion show accuracy improvements of two to three orders of magnitude in position and velocity after 50 revolutions. A modification of the method is presented that allows the use of slowly varying integrals of motion.

Nacozy, P. E.↗

NASA NTRS1976

An iterative decoupling solution method for large scale Lyapunov equations

A great deal of attention has been given to the numerical solution of the Lyapunov equation. A useful classification of the variety of solution techniques are the groupings of direct, transformation, and iterative methods. The paper summarizes those methods that are at least partly favorable numerically, giving special attention to two criteria: exploitation of a general sparse system matrix structure and efficiency in resolving the governing linear matrix equation for different matrices. An iterative decoupling solution method is proposed as a promising approach for solving large-scale Lyapunov equation when the system matrix exhibits a general sparse structure. A Fortran computer program that realizes the iterative decoupling algorithm is also discussed.

Athay, T. M.↗

NASA NTRS1987

Lyapunov function gradient generated robust control in the absence of the nominal stabilizing control

A relevant facet of the application of Lyapunov gradient-generated robust control to unstable linear autonomous plants is explored. It is demonstrated that if the plant, the output, and the nominal stabilizing control satisfy certain conditions, then the robust component alone stabilizes the nominal plant. An example characterized by two zero eigenvalues and two negative real value poles is presented. These results assure that the robust component will fulfill the role of nominal stabilization successfully so long as the possible magnitude of the robust component can overcome the contribution of the instability to positiveness of the Lyapunov rate.

Blackwell, C. C.↗

NASA NTRS1990

A unified perspective on robot control - The energy Lyapunov function approach

A unified framework for the stability analysis of robot tracking control is presented. By using an energy-motivated Lyapunov function candidate, the closed-loop stability is shown for a large family of control laws sharing a common structure of proportional and derivative feedback and a model-based feedforward. The feedforward can be zero, partial or complete linearized dynamics, partial or complete nonlinear dynamics, or linearized or nonlinear dynamics with parameter adaptation. As result, the dichotomous approaches to the robot control problem based on the open-loop linearization and nonlinear Lyapunov analysis are both included in this treatment. Furthermore, quantitative estimates of the trade-offs between different schemes in terms of the tracking performance, steady state error, domain of convergence, realtime computation load and required a prior model information are derived.

Wen, John T.↗

NASA NTRS1990

Short-time Lyapunov exponent analysis

A new technique for analyzing complicated fluid flows in numerical simulations has been successfully tested. The analysis uses short time Lyapunov exponent contributions and the associated Lyapunov perturbation fields. A direct simulation of the Taylor-Couette flow just past the onset of chaos demonstrated that this new technique marks important times during the system evolution and identifies the important flow features at those times. This new technique will now be applied to a 'minimal' turbulent channel.

Vastano, J. A.↗

NASA NTRS1995

Lyapunov exponents from CHUA's circuit time series using artificial neural networks

In this paper we present the general problem of identifying if a nonlinear dynamic system has a chaotic behavior. If the answer is positive the system will be sensitive to small perturbations in the initial conditions which will imply that there is a chaotic attractor in its state space. A particular problem would be that of identifying a chaotic oscillator. We present an example of three well known different chaotic oscillators where we have knowledge of the equations that govern the dynamical systems and from there we can obtain the corresponding time series. In a similar example we assume that we only know the time series and, finally, in another example we have to take measurements in the Chua's circuit to obtain sample points of the time series. With the knowledge about the time series the phase plane portraits are plotted and from them, by visual inspection, it is concluded whether or not the system is chaotic. This method has the problem of uncertainty and subjectivity and for that reason a different approach is needed. A quantitative approach is the computation of the Lyapunov exponents. We describe several methods for obtaining them and apply a little known method of artificial neural networks to the different examples mentioned above. We end the paper discussing the importance of the Lyapunov exponents in the interpretation of the dynamic behavior of biological neurons and biological neural networks.

Gonzalez, J. Jesus↗

NASA NTRS2001

Lyapunov-Based Sensor Failure Detection And Recovery For The Reverse Water Gas Shift Process

Livingstone, a model-based AI software system, is planned for use in the autonomous fault diagnosis, reconfiguration, and control of the oxygen-producing reverse water gas shift (RWGS) process test-bed located in the Applied Chemistry Laboratory at KSC. In this report the RWGS process is first briefly described and an overview of Livingstone is given. Next, a Lyapunov-based approach for detecting and recovering from sensor failures, differing significantly from that used by Livingstone, is presented. In this new method, models used are in terms of the defining differential equations of system components, thus differing from the qualitative, static models used by Livingstone. An easily computed scalar inequality constraint, expressed in terms of sensed system variables, is used to determine the existence of sensor failures. In the event of sensor failure, an observer/estimator is used for determining which sensors have failed. The theory underlying the new approach is developed. Finally, a recommendation is made to use the Lyapunov-based approach to complement the capability of Livingstone and to use this combination in the RWGS process.

Haralambous, Michael G.↗

NASA NTRS2002

LYAPUNOV-Based Sensor Failure Detection and Recovery for the Reverse Water Gas Shift Process

Livingstone, a model-based AI software system, is planned for use in the autonomous fault diagnosis, reconfiguration, and control of the oxygen-producing reverse water gas shift (RWGS) process test-bed located in the Applied Chemistry Laboratory at KSC. In this report the RWGS process is first briefly described and an overview of Livingstone is given. Next, a Lyapunov-based approach for detecting and recovering from sensor failures, differing significantly from that used by Livingstone, is presented. In this new method, models used are in t e m of the defining differential equations of system components, thus differing from the qualitative, static models used by Livingstone. An easily computed scalar inequality constraint, expressed in terms of sensed system variables, is used to determine the existence of sensor failures. In the event of sensor failure, an observer/estimator is used for determining which sensors have failed. The theory underlying the new approach is developed. Finally, a recommendation is made to use the Lyapunov-based approach to complement the capability of Livingstone and to use this combination in the RWGS process.

Haralambous, Michael G.↗

NASA NTRS2000

Conditioning of the Stable, Discrete-time Lyapunov Operator

The Schatten p-norm condition of the discrete-time Lyapunov operator L(sub A) defined on matrices P is identical with R(sup n X n) by L(sub A) P is identical with P - APA(sup T) is studied for stable matrices A is a member of R(sup n X n). Bounds are obtained for the norm of L(sub A) and its inverse that depend on the spectrum, singular values and radius of stability of A. Since the solution P of the the discrete-time algebraic Lyapunov equation (DALE) L(sub A)P = Q can be ill-conditioned only when either L(sub A) or Q is ill-conditioned, these bounds are useful in determining whether P admits a low-rank approximation, which is important in the numerical solution of the DALE for large n.

Tippett, Michael K.↗

NASA NTRS2010

A Spectral Lyapunov Function for Exponentially Stable LTV Systems

This paper presents the formulation of a Lyapunov function for an exponentially stable linear timevarying (LTV) system using a well-defined PD-spectrum and the associated PD-eigenvectors. It provides a bridge between the first and second methods of Lyapunov for stability assessment, and will find significant applications in the analysis and control law design for LTV systems and linearizable nonlinear time-varying systems.

Zhu, J. Jim↗

NASA NTRS2011

A Globally Stable Lyapunov Pointing and Rate Controller for the Magnetospheric MultiScale Mission (MMS)

The Magnetospheric MultiScale Mission (MMS) is scheduled to launch in late 2014. Its primary goal is to discover the fundamental plasma physics processes of reconnection in the Earth's magnetosphere. Each of the four MMS spacecraft is spin-stabilized at a nominal rate of 3 RPM. Traditional spin-stabilized spacecraft have used a number of separate modes to control nutation, spin rate, and precession. To reduce the number of modes and simplify operations, the Delta-H control mode is designed to accomplish nutation control, spin rate control, and precession control simultaneously. A nonlinear design technique, Lyapunov's method, is used to design the Delta-H control mode. A global spin rate controller selected as the baseline controller for MMS, proved to be insufficient due to an ambiguity in the attitude. Lyapunov's design method was used to solve this ambiguity, resulting in a controller that meets the design goals. Simulation results show the advantage of the pointing and rate controller for maneuvers larger than 90 deg and provide insight into the performance of this controller.

Shah, Neerav↗

NASA NTRS2015

Effective Power-Law Dependence of Lyapunov Exponents on the Central Mass in Galaxies

Using both numerical and analytical approaches, we demonstrate the existence of an effective power-law relation L alpha m(sup p) between themean Lyapunov exponent L of stellar orbits chaotically scattered by a supermassive black hole (BH) in the centre of a galaxy and the mass parameter m, i.e. ratio of the mass of the BH over the mass of the galaxy. The exponent p is found numerically to obtain values in the range p approximately equals 0.3-0.5. We propose a theoretical interpretation of these exponents, based on estimates of local 'stretching numbers', i.e. local Lyapunov exponents at successive transits of the orbits through the BH's sphere of influence. We thus predict p = 2/3 − q with q approximately equaling 0.1-0.2. Our basic model refers to elliptical galaxy models with a central core. However, we find numerically that an effective power-law scaling of L with m holds also in models with central cusp, beyond a mass scale up to which chaos is dominated by the influence of the cusp itself. We finally show numerically that an analogous law exists also in disc galaxies with rotating bars. In the latter case, chaotic scattering by the BH affects mainly populations of thick tube-like orbits surrounding some low-order branches of the x(sub 1) family of periodic orbits, as well as its bifurcations at low-order resonances, mainly the inner Lindblad resonance and the 4/1 resonance. Implications of the correlations between L and m to determining the rate of secular evolution of galaxies are discussed.

chaos aEuro" galaxies:↗

DOE OSTI2021

A Neural Lyapunov Approach to Transient Stability Assessment in Interconnected Microgrids

We propose a neural Lyapunov approach to assessing transient stability in power electronic-interfaced microgrid interconnections. The problem of transient stability assessment is cast as one of learning a neural network-structured Lyapunov function in the state space. Based on the function learned, a security region is estimated for monitoring the security of interconnected microgrids in real-time operation. The efficacy of the approach is tested and validated in a grid-connected microgrid and a three-microgrid interconnection. A comparison study suggests that the proposed method can achieve a less conservative characterization of the security region, as compared with a conventional approach.

Huang, Tong↗

DOE OSTI2026

Lyapunov controlled counterdiabatic quantum optimization

We introduce a quantum algorithm that integrates counterdiabatic (CD) protocols with quantum Lyapunov control (QLC) to address combinatorial optimization problems. This approach offers versatility, allowing implementation as either a digital-analog or purely digital algorithm based on selected control strategies. By examining spin-glass Hamiltonians, we illustrate how the algorithm can explore alternative paths to enhance solution outcomes compared to conventional CD techniques. This method reduces dependence on extensive higher-order CD terms and on classical optimization techniques, making it more suitable for existing quantum computing platforms. The combination of digital compression via CD protocols and the adaptable nature of QLC methods positions this approach as a promising candidate for near-term quantum devices.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2022

Provably-Stable Overload Ride-Through Control for Grid-Forming Inverters Using System-Wide Lyapunov Function Analysis

A key challenge associated with a grid-forming (GFM) inverter based resource (IBR) is its behavior during severe grid disturbances: since a GFM inverter regulates voltage in the fast timescale instead of current or power, it may experience a transient overload of current, power and/or energy during a severe grid disturbance. While many promising control strategies for overload ride-through have been proposed over the past two decades, transient stability of the system during and after the transition to an overload ride-through control mode remains difficult to guarantee. In this work, a novel overload ride-through control strategy is proposed for a system of grid-forming inverters that takes both self-protection and system-wide transient stability into account. A proposed system-level supervisory control uses slow communication to pre-emptively assign a set of local ride through control parameters to individual GFM IBR, including a current-limiting virtual reactance, that guarantees that synchronism is still preserved for any set of anticipated grid disturbances. At the core of the supervisory control lies a Lyapunov-function-based routine capable of establishing a strong, albeit conservative, transient stability guarantee for the system. Here, the proposed overload ride-through control strategy is validated via numerical integration of a reduced-order model, as well as through detailed electromagnetic transient (EMT) simulation.

30 DIRECT ENERGY CONVERSION↗

DOE OSTI2020

Lyapunov and Clearing Timescales in Planetary Chaotic Zones

Debris disks in planetary systems are known to possess gaps “opened” by planets in their close-to-coorbital neighborhoods; the gaps are free from low-mass material such as planetesimals. We consider the escape process of the initially zero-eccentric particles from the gap zone in a scenario consisting of two basic consequent stages: (1) the particle orbit's eccentricity is inflated, while its specific energy is relatively constant, and (2) the particle orbit's semimajor axis is inflated, while its specific angular momentum is relatively constant. During the first stage, the chaotic transport (diffusion) proceeds along the “staircase” of (p + 1):p (with integer p ≫ 1) overlapping particle–planet resonances, and during the second stage, it proceeds along the p:1 particle–planet resonance staircase. A specialized two-dimensional area-preserving map (a “tokamap” version) is derived to describe the first stage, while a multiharmonic Kepler map theory is used to describe the second stage. We derive the μ (mass parameter) scaling for the clearing timescale in the planetary chaotic zone. At small μ, it turns out to be inverse-quadratic in μ. The μ scaling for the Lyapunov timescale inside the gap is also derived. The derived scalings are in qualitative agreement with available numerical-experimental data.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2022

A Lyapunov-Based Generalized Dc-Side Controller Design for PV-Connected Systems: Preprint

The objective of this paper is to realize a universal dc-side controller for photovoltaic (PV) systems where the control is agnostic to the downstream converter configuration. To achieve this, the downstream power converter and its controls are manipulated into an effective power control loop that is then cast into a generalized multi-loop design framework. On the dc side, a nonlinear small-signal model of the PV input is realized exclusively in terms of PV datasheet parameters (i.e., open-circuit voltage, short-circuit current, and maximum power point). Finally, a linear controller is used to modulate the dc-side PV system with the generic downstream power controller. A Lyapunov candidate is proposed to analyze the stability of the interconnected system and provide a streamlined approach for the controller design. The proposed design is validated on a 1-kVA experimental setup that interfaces a PV module to the grid.

dc-dc control↗

DOE OSTI2024

Lyapunov-based nonlinear control of nonautonomous systems with individual input constraints

A control algorithm that can locally stabilize a specific class of multi-input multi-output nonautonomous nonlinear dynamical systems while satisfying individual input constraints is developed. The proposed Lyapunov-based state-feedback control law inherently accounts for the actuator amplitude saturation limits without the need for computationally expensive real-time optimization techniques. In addition to the control law, a formal definition for the local “controllable region” within which the controller can asymptotically drive the system states to the origin and satisfy the input saturation limits is also presented. The nonautonomous nature of the system dynamics implies that the “controllable region” continuously evolves with time. Therefore, a sufficient condition to maintain the system states within the “controllable region” is proposed in this work to make practical implementation feasible. The effectiveness of the controller is tested for a specific control problem arising in tokamaks, which are toroidal devices that use strong magnetic fields to confine a plasma (hot ionized gas). Here, the primary emphasis of tokamak research is to regulate the plasma properties around predetermined values to achieve stable plasma confinement. Nonlinear simulations show that the proposed controller can achieve the desired plasma control objectives in a DIII-D tokamak scenario.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗