Search NASA⌕ Search

SEARCH · Search NASA

Results for “Robust Control”

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 487 records · Page 27
All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Dual Representations and H ∞ -Optimal Control of Partial Differential Equations

We consider H ∞ -optimal state-feedback control of the class of linear Partial Differential Equations (PDEs) which admit a Partial Integral Equation (PIE) representation. While linear matrix inequalities are commonly used for optimal control of Ordinary Differential Equations (ODEs), the absence of a universal state-space representation and suitable dual form prevents such methods from being applied to optimal control of PDEs. Specifically, for ODEs, the controller synthesis problem is defined in state-space, and duality is used to resolve the bilinearity of that synthesis problem. Recently, the PIE representation was proposed as a universal state-space representation for linear PDE systems. In this paper, we show that any PDE system represented by a PIE admits a dual PIE with identical stability and I/O properties. This result allows us to reformulate the stabilizing and optimal state-feedback control problems as convex optimization over the cone of positive Partial Integral (PI) operators. Operator inversion formulae then allow us to construct feedback gains for the original PDE system. The results are verified through application to several canonical problems in optimal control of PDEs and indicate the resulting bounds on H ∞ norm are not conservative.

42 ENGINEERING↗
NASA NTRS1983

Robustness studies in adaptive control

It has been shown that several similar Model Reference Adaptive Controllers (MRAC's) are globally stable under certain restrictive assumptions, including the assumption that the order and relative degree of the plant are exactly known, and that no disturbances are present. Under certain 'sufficiently rich' excitation conditions, the origin is globally asymptotically stable for the adaptive controller parameter error. The time-evolution of the parameter error vector represents the key factor to the stability of the adaptive controller. This time-evolution is described by a complicated set of time-varying nonlinear differential equations. The present investigation is concerned with an approximate analysis technique for studying the long term trends of the parameter error vector trajectory for an adaptive controller under periodic excitation.

Krause, J.↗
NASA NTRS1988

Robust design of distributed controllers for large flexible space structures

Independent Modal Space Control (IMSC) method avoids control spillover generated by conventional control schemes such as Coupled Modal Control by decoupling the large flexible space structure into independent subsystems of second order and controlling each mode independently. The IMSC implementation requires that the number of actuators be equal to that of modeled modes, which is in general very huge. Consequently the number of required actuators is unrealizable. Two methods are proposed for the implementation of IMSC with reduced number of actuators. In the first method, the first m modes are optimized, leaving the last (n-m) modes unchanged. In the second method, generalized inverse matrices are employed to design the feedback controller so that the control scheme is suboptimal with respect to IMSC. The performance of the proposed methods is tested by performing computer simulation on a simply support beam. Simulation results are presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1988

Controls and guidance: Aeronautics

The overall objective is to provide a validated technology base leading to the development and exploitation of new concepts, analysis and design methodologies, and flight systems for future civil and military aircraft. This will provide increased efficiency, effectiveness, reliability, and safety. The program is organized into generic elements and vehicle-specific elements. The generic elements are control theory, guidance and display concepts, and flight crucial systems. Vehicle-specific elements are generic hypersonics, subsonic transport/commuter/general aviation, rotorcraft, and fighter/attack. Research in the control theory element is directed toward the improved flight control analysis and design methodologies for highly integrated, robust flight control designs. Flight Crucial Systems research is directed toward the development of design, assessment, and validation methodologies for flight crucial systems. The generic hypersonics research concentrates on the integration of flight control, propulsion control, sensors, and displays. The Aeronautical Controls and Guidance Program involves analytical and experimental research by in-house, university, and industry personnel. Extensive use of ground-based simulation is a characteristic of the program with selected flight experiments in a variety of aircraft.

Dibattista, John D.↗
NASA NTRS1989

Robust high-performance control for robotic manipulators

Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies were merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal componet that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nomical feedforward signal.

Seraji, Homayoun↗
NASA NTRS1990

Robust, High-Performance Control For Robotic Manipulators

Improved control scheme for robotic manipulators results from alternative approach to use of both model-based and performance-based control techniques. Includes feedforward controller and separate feedback controller. Feedforward controller model-based and contains any known part of dynamics of manipulator used to produce nominal control signal. Feedback controller performance-based; compensates for any unknown dynamics and uncertainties or variations in parameters of manipulator and/or payload.

Seraji, Homayoun↗
NASA NTRS1992

Robust tuning of robot control systems

The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller.

Minis, I.↗
NASA NTRS2006

Modular, Intelligent Power Systems for Space Exploration

NASA's new Space Exploration Initiative demands that vehicles, habitats, and rovers achieve unprecedented levels of reliability, safety, effectiveness, and affordability. Modular and intelligent electrical power systems are critical to achieving those goals. Modular electrical power systems naturally increase reliability and safety through built-in fault tolerance. These modular systems also enable standardization across a multitude of systems, thereby greatly increasing affordability of the programs. Various technologies being developed to support this new paradigm for space power systems will be presented. Examples include the use of digital control in power electronics to enable better performance and advanced modularity functions such as distributed, master-less control and series input power conversion. Also, digital control and robust communication enables new levels of power system control, stability, fault detection, and health management. Summary results from recent development efforts are presented along with expected future technology development needs required to support NASA's ambitious space exploration goals.

Button, Robert↗
NASA NTRS1991

Robust high-performance control for robotic manipulators

Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.

Seraji, Homayoun↗
NASA NTRS2007

A Robustly Stabilizing Model Predictive Control Algorithm

A model predictive control (MPC) algorithm that differs from prior MPC algorithms has been developed for controlling an uncertain nonlinear system. This algorithm guarantees the resolvability of an associated finite-horizon optimal-control problem in a receding-horizon implementation.

Ackmece, A. Behcet↗
NASA NTRSDate not supplied

Robust Path-following Controller for Multirotor Vehicles in Uncertain Wind Conditions

This paper presents simulations of L1 adaptive controller on a multirotor vehicle for compensation of convective winds. There are increasing efforts to utilize unmanned vehicles for fighting wildfires, but such vehicles need to be able to compensate for convective updrafts and other uncertainties (e.g., wind shear and turbulence) caused by the wildfire. Other application domains, such as urban air mobility, also must account for convective or uncertain winds present in urban microclimates. Geometric controllers have great tracking performance properties in environments without uncertainties, but the tracking performance degrades when wind disturbances and external loads are present in the environment. Introducing L1 adaptive control into the controller architecture compensates for these wind disturbances and reduces the tracking error caused by such disturbances. The controller architecture is implemented on a small quadrotor. The simulations demonstrate the advantages of the L1 adaptive augmentation for a sample figure-eight trajectory while encountering unknown variable wind conditions with an external load.

John L Bullock↗
NASA NTRSDate not supplied

Robust Path-following Controller for Multirotor Vehicles in Uncertain Wind Conditions

This paper presents simulations of L1 adaptive controller on a multirotor vehicle for compensation of convective winds. There are increasing efforts to utilize unmanned vehicles for fighting wildfires, but such vehicles need to be able to compensate for convective updrafts and other uncertainties (e.g., wind shear and turbulence) caused by the wildfire. Other application domains, such as urban air mobility, also must account for convective or uncertain winds present in urban microclimates. Geometric controllers have great tracking performance properties in environments without uncertainties, but the tracking performance degrades when wind disturbances and external loads are present in the environment. Introducing L1 adaptive control into the controller architecture compensates for these wind disturbances and reduces the tracking error caused by such disturbances. The controller architecture is implemented on a small quadrotor. The simulations demonstrate the advantages of the L1 adaptive augmentation for a sample figure-eight trajectory while encountering unknown variable wind conditions with an external load.

John Bullock↗
DOE OSTI2024

Shape-persistent ladder molecules exhibit nanogap-independent conductance in single-molecule junctions

Molecular electronic devices require precise control over the flow of current in single molecules. However, the electron transport properties of single molecules critically depend on dynamic molecular conformations in nanoscale junctions. Here, in this work, we report a unique strategy for controlling molecular conductance using shape-persistent molecules. Chemically diverse, charged ladder molecules, synthesized via a one-pot multicomponent ladderization strategy, show a molecular conductance (d[log( G/G 0 )]/d x ≈ -0.1 nm -1 ) that is nearly independent of junction displacement, in stark contrast to the nanogap-dependent conductance (d[log( G/G 0 )]/d x ≈ -7 nm -1 ) observed for non-ladder analogues. Ladder molecules show an unusually narrow distribution of molecular conductance during dynamic junction displacement, which is attributed to the shape-persistent backbone and restricted rotation of terminal anchor groups. These principles are further extended to a butterfly-like molecule, thereby demonstrating the strategy's generality for achieving gap-independent conductance. Overall, our work provides important avenues for controlling molecular conductance using shape-persistent molecules. Achieving robust and controllable conductance in single-molecule junctions is challenging due to the dynamic nature of molecular conformations that fluctuate over operational timescales. A strategy using shape-persistent molecules has now been developed that demonstrates nearly junction-displacement-independent conductance, providing a stable solution for single-molecule electronic properties.

molecular electronics↗
NASA NTRS1988

International Conference on Advances in Communication and Control Systems, 1st, Washington, DC, June 18-20, 1987, Proceedings

Theoretical models of communication and control systems are discussed in reviews and reports. Topics addressed include smoothing and identification for random fields, the information and coding capacities of mismatched Gaussian channels, recursive least-squares estimation and Kalman filtering by systolic arrays, Kemp echo digital filters, a periodic test-scheduling scheme for communication and queuing processes, and receivers for direct-sequence systems. Consideration is given to a distributed-parameter model for detecting cracks in rotors, active control of aeroelastic systems governed by functional differential equations, robust multivariable control of large space structures, finite-rank relatively bounded perturbations of semigroup generators, and sensitivity analysis of convex optimal-control problems.

Declaris, Nicholas↗
NASA NTRS1986

Integrated control/structure design and robustness

When a flexible structure is to be controlled actively, optimum performance is obtained by integrated, or simultaneous, design of the structure and the controller, as opposed to the common practice of designing the structure independently of control consideration and then designing a controller for a fixed structure. The primary design objective from the structural point of view usually is to minimize weight, while the control design objectives depend on the application. An important requirement for a practical control system is robustness with respect to uncertain plant parameters. This paper discusses simultaneous control/structure design when the overall design objective combines the weight of the structure and the robustness of the closed-loop control system. For numerical optimization, robustness is represented by the sensitivity of the closed-loop eigenvalues with respect to uncertain parameters. An example illustrates the optimal design of a flexible structure along with a robust compensator.

Adamian, A.↗
NASA NTRS1994

Control of a Serpentine Robot for Inspection Tasks

This paper presents a simple and robust kinematic control scheme for the JPL serpentine robot system. The proposed strategy is developed using the dampened-least-squares/configuration control methodology, and permits the considerable dexterity of the JPL serpentine robot to be effectively utilized for maneuvering in the congested and uncertain workspaces often encountered in inspection tasks. Computer simulation results are given for the 20 degree-of-freedom (DOF) manipulator system obtained by mounting the twelve DOF serpentine robot at the end-effector of an eight DOF Robotics Research arm/lathe-bed system. These simulations demonstrate that the proposed approach provides an effective method of controlling this complex system.

robotics simulations kinematic control serpentine ↗