Search NASA⌕ Search

SEARCH · Search NASA

Results for “Robustness guarantees”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Microgravity vibration isolation: An optimal control law for the one-dimensional case

Certain experiments contemplated for space platforms must be isolated from the accelerations of the platforms. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward (preview) gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega)(exp 4). Low frequency accelerations (less than 50 Hz) are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics guaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.

Hampton, R. D.↗
NASA NTRS1990

Analysis of gain scheduled control for nonlinear plants

Gain scheduling has proven to be a successful design methodology in many engineering applications. In the absence of a sound theoretical analysis, these designs come with no guarantees of the robustness, performance, or even nominal stability of the overall gain-scheduled design. An analysis is presented for two types of nonlinear gain-scheduled control systems: (1) scheduling on a reference trajectory and (2) scheduling on the plant output. Conditions which guarantee stability, robustness, and performance properties of the global gain schedule designs are given. These conditions confirm and formalize popular notions regarding gain-scheduled designs, such as that the scheduling variable should vary slowly and capture the plant's nonlinearities.

Shamma, Jeff S.↗
NASA NTRS1991

Guaranteed properties of gain scheduled control for linear parameter-varying plants

Gain scheduling has proven to be a successful design methodology in many engineering applications. However, in the absence of a sound theoretical analysis, these designs come with no guarantees on the robustness, performance, or even nominal stability of the overall gain scheduled design. This paper presents such an analysis for one type of gain scheduled system, namely, a linear parameter-varying plant scheduling on its exogenous parameters. Conditions are given which guarantee that the stability, robustness, and performance properties of the fixed operating point designs carry over to the global gain scheduled design. These conditions confirm and formalize popular notions regarding gain scheduled design, such as the scheduling variable should 'vary slowly'.

Shamma, Jeff S.↗
NASA NTRS1988

Analysis and design of gain scheduled control systems

Gain scheduling, as an idea, is to construct a global feedback control system for a time varying and/or nonlinear plant from a collection of local time invariant designs. However in the absence of a sound analysis, these designs come with no guarantees on the robustness, performance, or even nominal stability of the overall gain schedule design. Such an analysis is presented for three types of gain scheduling situations: (1) a linear parameter varying plant scheduling on its exogenous parameters, (2) a nonlinear plant scheduling on a prescribed reference trajectory, and (3) a nonlinear plant scheduling on the current plant output. Conditions are given which guarantee that the stability, robustness, and performance properties of the fixed operating point designs carry over to the global gain scheduled designs, such as the scheduling variable should vary slowly and capture the plants nonlinearities. Finally, an alternate design framework is proposed which removes the slowing varying restriction or gain scheduled systems. This framework addresses some fundamental feedback issues previously ignored in standard gain.

Shamma, Jeff S.↗
NASA NTRS1990

Integrated identification and robust control tuning for large space structures

System identification is studied for the explicit purpose of supporting modern H-infinity robust control design objectives. In the analysis, the true plant is not assumed to be in the identification model set. An integrated identification/robust control problem is posed in which the optimal solution guarantees the best robust performance relative to the system information contained in a given experimental data set. A numerical example demonstrating an approximate solution to the problem indicates the usefulness of the approach.

Yam, Y.↗
NASA NTRS2022

Robust Controller Synthesis for Vision-based Spacecraft Guidance and Control

This work develops a method for Robust Controller for Vision-based Spacecraft (RCVS) guidance and control, integral to the robust autonomy framework for multi-spacecraft for- mation control and reconfiguration applications. The method is built around the use of a photo-realistic simulator, where a camera is deployed on a tracking spacecraft (ego) in order to observe an uncontrolled spacecraft (target) in a Low Earth Orbit (LEO). In this direction, the proposed approach performs the relative state (attitude and position) estimation of the target spacecraft using Convolutional Neural Network (CNN). The state estimation error is then modeled and the corresponding error-bounds are obtained around a nominal trajectory of the ego and target spacecraft. Next, this work proposes a linear matrix inequalities (LMIs) based approach to controller synthesis, guaranteed to be robust against both model uncertainties and measurement errors, resulting from vision-based estimation. This controller is comprised of two distinct components, one synthesized based on the nominal trajectory, while the “robust” component corrects for deviations from the nominal trajectory. Finally, a tracking scenario that directly utilize the image data for spacecraft guidance and control, is presented to showcase the performance of the proposed robust autonomy framework.

Rahmani, Amir↗
NASA NTRS1990

Steering law design for redundant single-gimbal control moment gyroscopes

Two steering laws are presented for single-gimbal control moment gyroscopes. An approach using the Moore-Penrose pseudoinverse with a nondirectional null-motion algorithm is shown by example to avoid internal singularities for unidirectional torque commands, for which existing algorithms fail. Because this is still a tangent-based approach, however, singularity avoidance cannot be guaranteed. The singularity robust inverse is introduced as an alternative to the pseudoinverse for computing torque-producing gimbal rates near singular states. This approach, coupled with the nondirectional null algorithm, is shown by example to provide better steering law performance by allowing torque errors to be produced in the vicinity of singular states.

Bedrossian, Nazareth S.↗
NASA NTRS1993

Robust control design with real parameter uncertainty using absolute stability theory

The purpose of this thesis is to investigate an extension of mu theory for robust control design by considering systems with linear and nonlinear real parameter uncertainties. In the process, explicit connections are made between mixed mu and absolute stability theory. In particular, it is shown that the upper bounds for mixed mu are a generalization of results from absolute stability theory. Both state space and frequency domain criteria are developed for several nonlinearities and stability multipliers using the wealth of literature on absolute stability theory and the concepts of supply rates and storage functions. The state space conditions are expressed in terms of Riccati equations and parameter-dependent Lyapunov functions. For controller synthesis, these stability conditions are used to form an overbound of the H2 performance objective. A geometric interpretation of the equivalent frequency domain criteria in terms of off-axis circles clarifies the important role of the multiplier and shows that both the magnitude and phase of the uncertainty are considered. A numerical algorithm is developed to design robust controllers that minimize the bound on an H2 cost functional and satisfy an analysis test based on the Popov stability multiplier. The controller and multiplier coefficients are optimized simultaneously, which avoids the iteration and curve-fitting procedures required by the D-K procedure of mu synthesis. Several benchmark problems and experiments on the Middeck Active Control Experiment at M.I.T. demonstrate that these controllers achieve good robust performance and guaranteed stability bounds.

How, Jonathan P.↗
NASA NTRS2005

Determination of Interlaminar Toughness of IM7/977-2 Composites at Temperature Extremes and Different Thicknesses

Composite materials are being used in the aerospace industry as a means of reducing vehicle weight. In particular, polymer matrix composites (PMC) are good candidates due to their high strength-to-weight and high stiffness-to-weight ratios. Future reusable space launch vehicles and space exploration structures will need advanced light weight composites in order to minimize vehicle weight while demonstrating robustness and durability, guaranteeing high factors of safety. In particular, the implementation of composite cryogenic propellant fuel tanks (cryotanks) for future reusable launch vehicles (RLVs) could greatly reduce the vehicle's weight versus identically sized cryotanks constructed of metallic materials. One candidate composite material for future cryotank designs is IM7/977-2, which is a graphite/epoxy system. A successful candidate must demonstrate reasonable structural properties over a wide range of temperatures. Since the matrix material is normally the weak link in the composite, tests that emphasize matrix-dominated behavior need to be conducted. Therefore, the objective of this work is to determine the mode I interlaminar fracture toughness of "unidirectional" 8-ply and 16-ply IM7/977-2 through experimental testing. Tests were performed at -196 degrees Celsius (-320 degrees Fahrenheit), 22 degrees Celsius (72 degrees Fahrenheit), 93 degrees Celsius (200 degrees Fahrenheit) and 160 degrees C (320 degrees Fahrenheit). Low temperature testing was completed while the specimen was submerged in a liquid nitrogen bath. High temperature testing was completed in a temperature-controlled oven.

Johnson, W. S.↗
NASA NTRS2008

Decentralized Control of Sound Radiation using a High-Authority/Low-Authority Control Strategy with Anisotropic Actuators

This paper describes a combined control strategy designed to reduce sound radiation from stiffened aircraft-style panels. The control architecture uses robust active damping in addition to high-authority linear quadratic Gaussian (LQG) control. Active damping is achieved using direct velocity feedback with triangularly shaped anisotropic actuators and point velocity sensors. While active damping is simple and robust, stability is guaranteed at the expense of performance. Therefore the approach is often referred to as low-authority control. In contrast, LQG control strategies can achieve substantial reductions in sound radiation. Unfortunately, the unmodeled interaction between neighboring control units can destabilize decentralized control systems. Numerical simulations show that combining active damping and decentralized LQG control can be beneficial. In particular, augmenting the in-bandwidth damping supplements the performance of the LQG control strategy and reduces the destabilizing interaction between neighboring control units.

Schiller, Noah H.↗
NASA NTRS2013

Interferometers Sharpen Measurements for Better Telescopes

Over the last decade, there have been a number of innovations that have made possible the largest and most powerful telescope of its time: the James Webb Space Telescope (JWST). Scheduled to launch in 2018, JWST will provide insight into what the oldest, most distant galaxies look like. When engineers build a first-of-its-kind instrument like the JWST, they often must make new tools to construct the new technology. Throughout the decades of planning, development, and construction of the JWST, NASA has worked with numerous partners to spur innovations that have enabled the telescope s creation. Though the JWST s launch date is still several years away, a number of these innovations are spinning off to provide benefits here on Earth. One of these spinoffs has emerged from the extensive testing the JWST must undergo to ensure it will function in the extreme environment of space. In order to test the JWST instruments in conditions that closely resemble those in space, NASA uses a cryogenic vacuum chamber. By dropping the temperatures down to -400 F and employing powerful pumps to remove air from the chamber, engineers can test whether the JWST instruments will function once the spacecraft leaves Earth. Traditionally, a phase-shifting interferometer is used to measure optics like the JWST s mirrors to verify their precise shape, down to tens of nanometers, during manufacturing. However, the large size of the mirrors, coupled with vibration induced by the cryo-pumps, prohibits the use of traditional phase-shifting interferometers to measure the mirrors within the chamber environment. Because the JWST will be located in deep space, far from any possible manned service mission, it was essential to find a robust solution to guarantee the performance of the mirrors.

Source record↗
NASA NTRS1990

A homotopy algorithm for synthesizing robust controllers for flexible structures via the maximum entropy design equations

One well known deficiency of LQG compensators is that they do not guarantee any measure of robustness. This deficiency is especially highlighted when considering control design for complex systems such as flexible structures. There has thus been a need to generalize LQG theory to incorporate robustness constraints. Here we describe the maximum entropy approach to robust control design for flexible structures, a generalization of LQG theory, pioneered by Hyland, which has proved useful in practice. The design equations consist of a set of coupled Riccati and Lyapunov equations. A homotopy algorithm that is used to solve these design equations is presented.

Collins, Emmanuel G., Jr.↗
NASA NTRS2005

Designing and Implementing a Distributed System Architecture for the Mars Rover Mission Planning Software (Maestro)

Distributed systems allow scientists from around the world to plan missions concurrently, while being updated on the revisions of their colleagues in real time. However, permitting multiple clients to simultaneously modify a single data repository can quickly lead to data corruption or inconsistent states between users. Since our message broker, the Java Message Service, does not ensure that messages will be received in the order they were published, we must implement our own numbering scheme to guarantee that changes to mission plans are performed in the correct sequence. Furthermore, distributed architectures must ensure that as new users connect to the system, they synchronize with the database without missing any messages or falling into an inconsistent state. Robust systems must also guarantee that all clients will remain synchronized with the database even in the case of multiple client failure, which can occur at any time due to lost network connections or a user's own system instability. The final design for the distributed system behind the Mars rover mission planning software fulfills all of these requirements and upon completion will be deployed to MER at the end of 2005 as well as Phoenix (2007) and MSL (2009).

Goldgof, Gregory M.↗
NASA NTRS1993

Robust, nonlinear, high angle-of-attack control design for a supermaneuverable vehicle

High angle-of-attack flight control laws are developed for a supermaneuverable fighter aircraft. The methods of dynamic inversion and structured singular value synthesis are combined into an approach which addresses both the nonlinearity and robustness problems of flight at extreme operating conditions. The primary purpose of the dynamic inversion control elements is to linearize the vehicle response across the flight envelope. Structured singular value synthesis is used to design a dynamic controller which provides robust tracking to pilot commands. The resulting control system achieves desired flying qualities and guarantees a large margin of robustness to uncertainties for high angle-of-attack flight conditions. The results of linear simulation and structured singular value stability analysis are presented to demonstrate satisfaction of the design criteria. High fidelity nonlinear simulation results show that the combined dynamics inversion/structured singular value synthesis control law achieves a high level of performance in a realistic environment.

Adams, Richard J.↗
NASA NTRSDate not supplied

Understanding and Verifying Neural Networks

Deep Neural Networks (DNNs) have gained immense popularity in recent times and have widespread use in applications such as image classification, sentiment analysis, speech recognition and also in safety-critical applications such as autonomous driving. However, they suffer limitations such as lack of explainability and robustness which raise safety and security concerns in their usage. Further, the complex structure and large input spaces of DNNs act as an impediment to thorough verification and testing. The SafeDNN project at the Robust Software Engineering (RSE) group at NASA aims at exploring techniques to ensure that systems that use deep neural networks are safe, robust and interpretable. In this talk, I will be presenting our technique Prophecy that automatically infers formal properties of deep neural network models. The tool extracts patterns based on neuron activations as preconditions that imply certain desirable output properties of the model. I would be highlighting case studies that use Prophecy in obtaining explanations for network decisions, understanding correct and incorrect behavior, providing formal guarantees wrt safety and robustness, and debugging neural network models. We have applied the tool on image classification networks, neural network controllers providing turn advisories in unmanned aircrafts, regression models used for autonomous center-line tracking in aircrafts and neural network object detectors

Deep Neural Networks↗
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

Controller design for microgravity vibration isolation systems

Control aspects of the vibration isolation problem of manned orbiters are investigated, and a viable robust control is proposed. The application of modern control theory to this problem, incorporating frequency-weighting and disturbance accommodation techniques, is investigated. The resulting controller achieves excellent performance for plants within a reasonable range of variations from the nominal. Robust stability and performance guarantees are measured by singular value and structured singular value checks, yielding guarantees on allowable real plant parameter uncertainties and on acceptable controller and sensor phase and gain variations. The problem of unmodeled HG modes is eliminated by using frequency weighting to reduce controller bandwidth. The method is applied successfully to the single-degree-of-freedom isolation problem.

Hampton, R. D.↗