APPLICATION OF SELF-ADAPTIVE CONTROL TECHNIQUES TO THE FLEXIBLE SUPERSONIC TRANSPORT
Limit-cycle and model-reference, self-adaptive techniques for designing the flight control systems of flexible supersonic transport aircraft
SELF-ADAPTIVE SYSTEM↗
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Decentralized Adaptive Control of Manipulators
This paper presents two new adaptive schemes for motion control of robot manipulators.
robots robot manipulators motion control↗
Maximum likelihood identifier refinements for F-8C adaptive control
Design refinement is described for baseline F-8C adaptive flight test control laws which consist of simplified quadratic-optimal model-following control structures in the pitch and lateral directional axes. The variable gains of both axes are adjusted adaptively by an explicit on-line maximum likelihood parameter identifier. The identifier, consisting of five parallel computing channels which evaluate the likelihood functions at discrete points in parameter space, operates in pitch only, using pitch rate, normal acceleration, and elevator position measurements.
Stein, G.↗
The Interplay Between Strategic And Adaptive Control Mechanisms In Plastic Recalibration Of Locomotor Function
We have previously shown that viewing simulated rotary self-motion during treadmill locomotion causes immediate strategic modifications (Richards et al. 2004) as well as an after effect reflecting adaptive modification of the control of position and trajectory during over-ground locomotion (Mulavara et al. 2005). The process of sensorimotor adaptation is comprised of both strategic and adaptive control mechanisms. Strategic control involves cognitive, on-line corrections to limb movements once one is aware of a sensory discordance. Over an extended period of exposure to the sensory discordance, new strategic sensorimotor coordination patterns are reinforced until they become more automatic, and therefore adaptive, in nature. The objective of this study was to investigate how strategic changes in trunk control during exposure to simulated rotary self-motion during treadmill walking influences adaptive modification of locomotor heading direction during over-ground stepping. Subjects (n = 10) walked on a motorized linear treadmill while viewing a wide field-of-view virtual scene for 24 minutes. The scene was static for the first 4 minutes and then, for the last 20 minutes, depicted constant rate self-motion equivalent to walking in a counter-clockwise, circular path around the perimeter of a room. Subjects performed five stepping trials both before and after the exposure period to assess after effects. Results from our previous study showed a significant change in heading direction (HD) during post-exposure step tests that was opposite the direction in which the scene rotated during the adaptation period. For the present study, we quantified strategic modifications in trunk movement control during scene exposure using normalized root mean square (R(sub p)) variation of the subject's 3D trunk positions and normalized sum of standard deviations (R(sub o)) variation of 3D trunk orientations during scene rotation relative to that during static scene presentation. Associated 95% confidence intervals, CI(sub P) and CI(sub O), were calculated to investigate the variation of strategic modifications during scene exposure. Repeated measures ANOVA and individual subject regression analyses showed that R(sub P) and R(sub O) (i.e. strategic modifications) for trunk fore/aft (X) and yaw movements, respectively, decreased significantly over the exposure period. Furthermore, we found a significant correlation between the magnitude change in HD and the rate at which the variation of strategic modifications in trunk X decreased. We also found evidence of a correlation between HD and the rate at which strategic modifications in trunk yaw decreased (p = .06). We infer that adaptive recalibration of locomotor trajectory using optic flow stimuli depends on the rate at which strategic intervention is reduced.
Richards, J. T.↗
A distributed system adaptive control strategy
One attitude control device being studied for large spacecraft consists of two counter-rotating rings, each designated as an annular momentum control device (AMCD), that are attached to a spacecraft using several magnetic bearings distributed along the circumference of the rings. For large spacecraft large rings are desirable. Unfortunately, for large rings flexibility is appreciable and it becomes necessary to account for the distributed nature of the rings in the design of the magnetic bearing controllers. Also ring behavior is unpredictably sensitive to ring temperature, spin rate, manufacturing imperfections, and other variables. For that reason a distributed adaptive microcomputer-based control system is being sought for ring stabilization and maneuvering. An original adaptive-control methodology for distributed-parameter systems is detailed and application to spinning ring, i.e., AMCD, stabilization is used as an illustration. The proposed methodology, presented as a step-by-step procedure, combines a lumped-parameter expansion description of distributed parameter systems with a fundamental simultaneous identification and control strategy. Simulations are presented providing preliminary evidence of the capabilities of the proposed procedure.
Johnson, C. R., Jr.↗
Chapter 2-1: Learning from the Biological Viewpoint: Adaptive Control and Learning Systems - Part 2
Adaptive patterns in central nervous tissue learning process
Adey, W. R.↗
Innovative Adaptive Control Method Demonstrated for Active Suppression of Instabilities in Engine Combustors
This year, an improved adaptive-feedback control method was demonstrated that suppresses thermoacoustic instabilities in a liquid-fueled combustor of a type used in aircraft engines. Extensive research has been done to develop lean-burning (low fuel-to-air ratio) combustors that can reduce emissions throughout the mission cycle to reduce the environmental impact of aerospace propulsion systems. However, these lean-burning combustors are susceptible to thermoacoustic instabilities (high-frequency pressure waves), which can fatigue combustor components and even downstream turbine blades. This can significantly decrease the safe operating life of the combustor and turbine. Thus, suppressing the thermoacoustic combustor instabilities is an enabling technology for meeting the low-emission goals of the NASA Ultra-Efficient Engine Technology (UEET) Project.
Kopasakis, George↗
Model reference, sliding mode adaptive control for flexible structures
A decentralized model reference adaptive approach using a variable-structure sliding model control has been developed for the vibration suppression of large flexible structures. Local models are derived based upon the desired damping and response time in a model-following scheme, and variable structure controllers are then designed which employ colocated angular rate and position feedback. Numerical simulations have been performed using NASA's flexible grid experimental apparatus.
Yurkovich, S.↗
Robustness In Suppressing Vibrations With Adaptive Control
Report describes theoretical and experimental study of robustness of adaptive model-reference control scheme designed to suppress vibrations in large, flexible structure. Model can be mathematical model or collection of models approximating dynamics of structure, vibration sensors, and vibration-suppressing actuators.
Ih, Che-Hang C.↗
Adaptive Control Of Large Vibrating, Rotating Structures
Globally convergent theoretical method provides for adaptive set-point control of orientation of, along with suppression of the vibrations of, large structure. Method utilizes inherent passivity properties of structure to attain mathematical condition essential to adaptive convergence on commanded set point. Maintains stability and convergence in presence of errors in mathematical model of dynamics of structure and actuators. Developed for controlling attitudes of large, somewhat flexible spacecraft, also useful in such terrestrial applications as controlling movable bridges or suppressing earthquake vibrations in bridges, buildings, and other large structures.
Bayard, David S.↗
Adaptive control for hybrid manufacturing
The primary objective of the technical collaboration is to validate and implement adaptive feed rate control, tool wear monitoring, and anomaly detection for the finish machining of additive components. Most additively manufactured components need finish machining to achieve surface finish and tolerance requirements. Distortions and surface roughness of additively manufactured components can result in high forces and tool breakage or excessive tool wear during post-additive finish machining, which can result in rework or part scrap. In this collaboration, methods, and models for feed rate control, tool wear monitoring, and anomaly detection via a digital twin will be evaluated and validated.
99 GENERAL AND MISCELLANEOUS↗
Nonlinear adaptive control of an elastic robotic arm
An approach to control of a class of nonlinear flexible robotic systems is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. An adaptive torquer control law is derived for controlling the joint angles. This controller includes a dynamic system in the feedback path, requires only joint angle and rate for feedback, and asymptotically decomposes the elastic dynamics into two subsystems representing the transverse vibrations of the elastic link in two orthogonal planes. To damp out the elastic vibration, a force control law using modal feedback is synthesized. The combination of the torque and force control laws accomplishes joint angle control and elastic mode stabilization.
Singh, S. N.↗
A Hypothetical Perspective on the Relative Contributions of Strategic and Adaptive Control Mechanisms in Plastic Recalibration of Locomotor Heading Direction
We have previously shown that viewing simulated rotary self-motion during treadmill locomotion causes adaptive modification of the control of position and trajectory during over-ground locomotion, which functionally reflects adaptive changes in the sensorimotor integration of visual, vestibular, and proprioceptive cues (Mulavara et al., 2005). The objective of this study was to investigate how strategic changes in torso control during exposure to simulated rotary self-motion during treadmill walking influences adaptive modification of locomotor heading direction during over-ground stepping.
Richards, J. T.↗
Robust Adaptive Control for Large-scale Inverter-based Resources with Partial and Complete Loss of Inverters
This article proposes an approach to address the current and the aggregated active power control challenge for large-scale inverter-based resources subjected to partially or completely loss of inverters and grid voltage variations. To address this problem, a distributed active power mechanism is proposed which generates desired inverters current. Then an adaptive mechanism distributes the voltage control input automatically between inverters in response to the partial or complete loss of inverters. An L2-gain-based controller is designed for each inverter to track the desired current and rejects the grid voltage disturbance. Here, simulation results show a significant robust tracking for collective active power and current.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Experimental Study of a Membrane Antenna Surface Adaptive Control System
Due to their ultra lightweight and high packaging efficiency, membrane reflectors are getting more and more attentions for mission architectures that need extremely large inspace deployable antennas. However how to maintain the surface shape of a membrane reflector to the instrument precision requirements is a very challenging problem. This experimental study investigated using PVDF membrane piezoelectric material as actuators to control the surface figures of membrane reflectors. The feasibility of this approach is demonstrated by several sets of test results.
packaging↗
Adaptive control of propellant slosh for launch vehicles
The use of adaptive system to stabilize a launch vehicle with sloshable fuel is discussed. The adaptive system is based on a laser sensor to measure fluid displacement in the tank, a recursive-least-squares estimator to assess the natural frequency of the sloshing fuel, and a linear filter to stabilize the unstable fuel slosh. The method is found to be promising for a pitch-plane, single pendulum model.
Adler, James M.↗
Phasor-Based Adaptive Control of a Test-Feeder Distribution Network
Control in the power distribution system is needed to match the generation of electricity (that is, supply) with the demand for power (that is, load) at all times while maintaining a high level of power quality [1] (see "Summary"). The complexity of controlling the electric distribution system increases when distributed intermittent energy sources, such as solar photovoltaics (PVs), displace large-scale dispatchable generation [2]-[10]. Furthermore, if the supply from distributed resources exceeds the time-varying demand across a feeder, then the feeder-level voltage will increase. In extreme cases, large voltage increases will trigger the disconnection of distributed generation to protect electrical equipment and ensure customer safety. Consequently, coordinating renewable energy sources that are distributed throughout the distribution system-to match real-time demand across an entire power network-brings the additional challenge of maintaining a high level of supply reliability.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Adaptive control of propellant slosh for a launch vehicle with multiple tanks
This paper discusses the use of an adaptive system to stabilize a multi-tank launch vehicle with sloshable fuel. The adaptive system utilizes a sensor to measure the fluid slosh angle, a recursive-least-squares estimator to estimate the natural frequency of the sloshing fuel, and a linear filter which stabilizes the unstable fuel slosh using the frequency estimate. Single-input and multiinput estimators were investigated. The time-varying complexity of the slosh control loop keeps the system persistently excited through flight, even though the attitude is controlled by a conventional PID controller. For the first portion of flight, the adaptive system maintains stability. A modification is proposed for latter portions of flight. The approach requires no tank baffles or partitions.
Saugen, John D.↗