Frequency domain synthesis of a robust flutter suppression control law
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Schmidt, D. K.↗
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Dynamics and control of multibody/robotic systems with space applications; Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, Dec. 10-15, 1989
The present conference on the dynamics and control methods of multibody robotic systems applicable to outer space applications first gives attention to such topics in multibody dynamics and control as the substructure synthesis approach to flexible multibody system control, an elastic finite-element kinematic analysis of a multirigid body, computational methods for high speed vehicles on flexible guideways, and multiarm coordination and control. Attention is then given to such issues in space manipulator dynamics and control methods as the global navigation of a free-flying space robot, dynamic singularities in the control of free-floating space manipulators, experimental results for compact space robot actuator control, and a 17-degree-of-freedom dexterous manipulator.
Joshi, Suresh M.↗
Robust control with structured perturbations
This semi-annual report describes continued progress on the research. Among several approaches in this area of research, our approach to the parametric uncertainties are being matured everyday. This approach deals with real parameter uncertainties which other techniques such as H (sup infinity) optimal control, micron analysis and synthesis, and l(sub 1) optimal control cannot deal. The primary assumption of this approach is that the mathematical models are well obtained so that the most of system uncertainties can be translated into parameter uncertainties of their linear system representations. These uncertainties may be due to modeling, nonlinearity of the physical system, some time-varying parameters, etc. In this report period of research, we are concentrating on implementing a computer aided analysis and design tool based on new results on parametric robust stability. This implementation will help us to reveal further details in this approach.
Keel, Leehyun↗
Synthesis and evaluation of an H2 control law for a hovering helicopter
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Takahashi, Marc D.↗
Synthesis Methods for Robust Passification and Control
The research effort under this cooperative agreement has been essentially the continuation of the work from previous grants. The ongoing work has primarily focused on developing passivity-based control techniques for Linear Time-Invariant (LTI) systems. During this period, there has been a significant progress made in the area of passivity-based control of LTI systems and some preliminary results have also been obtained for nonlinear systems, as well. The prior work has addressed optimal control design for inherently passive as well as non- passive linear systems. For exploiting the robustness characteristics of passivity-based controllers the passification methodology was developed for LTI systems that are not inherently passive. Various methods of passification were first proposed in and further developed. The robustness of passification was addressed for multi-input multi-output (MIMO) systems for certain classes of uncertainties using frequency-domain methods. For MIMO systems, a state-space approach using Linear Matrix Inequality (LMI)-based formulation was presented, for passification of non-passive LTI systems. An LMI-based robust passification technique was presented for systems with redundant actuators and sensors. The redundancy in actuators and sensors was used effectively for robust passification using the LMI formulation. The passification was designed to be robust to an interval-type uncertainties in system parameters. The passification techniques were used to design a robust controller for Benchmark Active Control Technology wing under parametric uncertainties. The results on passive nonlinear systems, however, are very limited to date. Our recent work in this area was presented, wherein some stability results were obtained for passive nonlinear systems that are affine in control.
Kelkar, Atul G.↗
Modern control techniques in active flutter suppression using a control moment gyro
Development of organized synthesis techniques, using concepts of modern control theory was studied for the design of active flutter suppression systems for two and three-dimensional lifting surfaces, utilizing a control moment gyro (CMG) to generate the required control torques. Incompressible flow theory is assumed, with the unsteady aerodynamic forces and moments for arbitrary airfoil motion obtained by using the convolution integral based on Wagner's indicial lift function. Linear optimal control theory is applied to find particular optimal sets of gain values which minimize a quadratic performance function. The closed loop system's response to impulsive gust disturbances and the resulting control power requirements are investigated, and the system eigenvalues necessary to minimize the maximum value of control power are determined.
Buchek, P. M.↗
Control of enzyme activities in D. discoideum during development
Cell wall synthesis, and enzyme activity control in cellular slime mold development
SYNTHESIS↗
Notes on System Theory, Volume VII
System theory - matrices, feedback control system, network synthesis, set theory, stability, shift registers, coding, theorem proving, polynomial roots, channels, and signal flow graphs
FEEDBACK CONTROL SYSTEM↗
Control of Rate-Bounded Hybrid Systems with Liveness Specifications
In the present paper we examine the control problem for a class of composite hybrid machines (CHMs) that consist of concurrent operation (employing synchronous composition) of elementary hybrid machines (EHMs), that allows both signal sharing and event synchronization. A controller can then be coupled with the plant by means of synchronous composition. We confine our attention to controllers that interact with the system only through event synchronization. We present an initial investigation of synthesis of liveness controllers for hybrid machines. To this end we define open hybrid machines as systems that can interact with the environment through event synchronization and can be therefor be "driven" to their marked configuration by user (controller). Liveness specifications must be associated with timing constraints. We may require that for a specified time limit, every run reach a marked configuration within that time limit. Alternatively, a more relaxed specification may be that, for some (unspecified) global time bound, every run of the system reach a marked configuration within that time bound. Finally, the least restrictive liveness requirement is that every run reach a marked configuration within a finite time limit (but we do not insist on the existence of a global time bound for all runs).
Heymann, Michael↗
Behavior sensitivities for control augmented structures
During the past few years it has been recognized that combining passive structural design methods with active control techniques offers the prospect of being able to find substantially improved designs. These developments have stimulated interest in augmenting structural synthesis by adding active control system design variables to those usually considered in structural optimization. An essential step in extending the approximation concepts approach to control augmented structural synthesis is the development of a behavior sensitivity analysis capability for determining rates of change of dynamic response quantities with respect to changes in structural and control system design variables. Behavior sensitivity information is also useful for man-machine interactive design as well as in the context of system identification studies. Behavior sensitivity formulations for both steady state and transient response are presented and the quality of the resulting derivative information is evaluated.
Manning, R. A.↗
Synthesis of offset dual shaped subreflector antennas for control of Cassegrain aperture distributions
The method presented for antenna upgrading involves a redesign of only the subreflector portion of a Cassegrain antenna or the introduction of a subreflector feed system for a paraboloid. A pair of offset subreflectors are synthesized which will produce a controllable high gain amplitude distribution in the aperture of the large paraboloid. The synthesis method is based on the approximate formulation for an offset dual shaped high gain antenna first presented by Galindo-Israel and Mittra (1977). It is pointed out that in their approximate formulation, the geometrical optics energy was scattered from a subreflector and then from a second large reflector, which reflected a uniform phase distribution. In the offset dual shaped subreflector (DSS) antenna proposed here, the second reflection is from a smaller (sub) reflector, and it scatters a spherical wave that feeds a hyperboloid or feeds a large paraboloid directly. The DSS synthesis is tested on the 210-ft-diameter Cassegrain antenna at Goldstone, California.
Galindo-Israel, V.↗
A Comparison of Multivariable Control Design Techniques for a Turbofan Engine Control
This paper compares two previously published design procedures for two different multivariable control design techniques for application to a linear engine model of a jet engine. The two multivariable control design techniques compared were the Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) and the H-Infinity synthesis. The two control design techniques were used with specific previously published design procedures to synthesize controls which would provide equivalent closed loop frequency response for the primary control loops while assuring adequate loop decoupling. The resulting controllers were then reduced in order to minimize the programming and data storage requirements for a typical implementation. The reduced order linear controllers designed by each method were combined with the linear model of an advanced turbofan engine and the system performance was evaluated for the continuous linear system. Included in the performance analysis are the resulting frequency and transient responses as well as actuator usage and rate capability for each design method. The controls were also analyzed for robustness with respect to structured uncertainties in the unmodeled system dynamics. The two controls were then compared for performance capability and hardware implementation issues.
Garg, Sanjay↗
The design of multirate digital control systems
The successive loop closures synthesis method is the only method for multirate (MR) synthesis in common use. A new method for MR synthesis is introduced which requires a gradient-search solution to a constrained optimization problem. Some advantages of this method are that the control laws for all control loops are synthesized simultaneously, taking full advantage of all cross-coupling effects, and that simple, low-order compensator structures are easily accomodated. The algorithm and associated computer program for solving the constrained optimization problem are described. The successive loop closures , optimal control, and constrained optimization synthesis methods are applied to two example design problems. A series of compensator pairs are synthesized for each example problem. The succesive loop closure, optimal control, and constrained optimization synthesis methods are compared, in the context of the two design problems.
Berg, M. C.↗
Application of modern control design methodology to oblique wing research aircraft
A Linear Quadratic Regulator synthesis technique was used to design an explicit model following control system for the Oblique Wing Research Aircraft (OWRA). The forward path model (Maneuver Command Generator) was designed to incorporate the desired flying qualities and response decoupling. The LQR synthesis was based on the use of generalized controls, and it was structured to provide a proportional/integral error regulator with feedforward compensation. An unexpected consequence of this design approach was the ability to decouple the control synthesis into separate longitudinal and lateral directional designs. Longitudinal and lateral directional control laws were generated for each of the nine design flight conditions, and gain scheduling requirements were addressed. A fully coupled 6 degree of freedom open loop model of the OWRA along with the longitudinal and lateral directional control laws was used to assess the closed loop performance of the design. Evaluations were performed for each of the nine design flight conditions.
Vincent, James H.↗
Optimal placement of actuators and sensors in control augmented structural optimization
A control-augmented structural synthesis methodology is presented in which actuator and sensor placement is treated in terms of (0,1) variables. Structural member sizes and control variables are treated simultaneously as design variables. A multiobjective utopian approach is used to obtain a compromise solution for inherently conflicting objective functions such as strucutal mass control effort and number of actuators. Constraints are imposed on transient displacements, natural frequencies, actuator forces and dynamic stability as well as controllability and observability of the system. The combinatorial aspects of the mixed - (0,1) continuous variable design optimization problem are made tractable by combining approximation concepts with branch and bound techniques. Some numerical results for example problems are presented to illustrate the efficacy of the design procedure set forth.
Sepulveda, A. E.↗
Chemical environments of submarine hydrothermal systems
The paper synthesizes diverse information about the inorganic geochemistry of submarine hydrothermal systems, provides a description of the fundamental physical and chemical properties of these systems, and examines the implications of high-temperature, fluid-driven processes for organic synthesis. Emphasis is on a few general features, i.e., pressure, temperature, oxidation states, fluid composition, and mineral alteration, because these features will control whether organic synthesis can occur in hydrothermal systems.
Shock, Everett L.↗
Combustion synthesis of advanced composite materials
Self-propagating high temperature (combustion) synthesis (SHS), has been investigated as a means of producing both dense and expanded (foamed) ceramic and ceramic-metal composites, ceramic powders and whiskers. Several model exothermic combustion synthesis reactions were used to establish the importance of certain reaction parameters, e.g., stoichiometry, green density, combustion mode, particle size, etc. on the control of the synthesis reaction, product morphology and properties. The use of an in situ liquid infiltration technique and the effect of varying the reactants and their stoichiometry to provide a range of reactant and product species i.e., solids, liquids and gases, with varying physical properties e.g., volatility and thermal conductivity, on the microstructure and morphology of synthesized composite materials is discussed. Conducting the combustion synthesis reaction in a reactive gas environment to take advantage of the synergistic effects of combustion synthesis and vapor phase transport is also examined.
Moore, John J.↗
Feedback control laws for highly maneuverable aircraft
During this year, we concentrated our efforts on the design of controllers for lateral/directional control using mu synthesis. This proved to be a more difficult task than we anticipated and we are still working on the designs. In the lateral-directional control problem, the inputs are pilot lateral stick and pedal commands and the outputs are roll rate about the velocity vector and side slip angle. The control effectors are ailerons, rudder deflection, and directional thrust vectoring vane deflection which produces a yawing moment about the body axis. Our math model does not contain any provision for thrust vectoring of rolling moment. This has resulted in limitations of performance at high angles of attack. During 1994-95, the following tasks for the lateral-directional controllers were accomplished: (1) Designed both inner and outer loop dynamic inversion controllers. These controllers are implemented using accelerometer outputs rather than an a priori model of the vehicle aerodynamics; (2) Used classical techniques to design controllers for the system linearized by dynamics inversion. These controllers acted to control roll rate and Dutch roll response; (3) Implemented the inner loop dynamic inversion and classical controllers on the six DOF simulation; (4) Developed a lateral-directional control allocation scheme based on minimizing required control effort among the ailerons, rudder, and directional thrust vectoring; and (5) Developed mu outer loop controllers combined with classical inner loop controllers.
Garrard, William L.↗