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Results for “Output feedback adaptive 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.

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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Relating multitemporal meteorological satellite data to climatological data for Africa

The questions of surface-atmosphere interaction and effects of land surface changes have been investigated by studying the energy balance over Africa. The energy and mass balance model being developed is an adaptation of the Lettau climatonomy model. The climatonic approach is a systems approach which encompasses: (1) a process, (2) an input to the process (forcing function), (3) an output from the process (response function), (4) feedback, and (5) control or management of the system. Steady-state climate is described and parametrized using a series of one-dimensional differential continuity and balance equations for energy and mass.

Nicholson, Sharon E.↗
NASA NTRS1987

A new approach to adaptive control of manipulators

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Seraji, H.↗
NASA NTRS2000

Biocybernetic Control of Vigilance Task Parameters

The major focus of the present proposal was to examine psychophysiological variables that are related to hazardous states of awareness induced by monitoring automated systems. With the increased use of automation in today's work environment, people's roles in the work place are being redefined from that of active participant to one of passive monitor. Although the introduction of automated systems has a number of benefits, there are also a number of disadvantages regarding the worker performance. Byrne and Parasuraman (1996) have argued for the use of psychophysiological measures in both the development and the implementation of adaptive automation. While both performance based and model based adaptive automation have been studied, the use of psychophysiological measures, especially EEG, offers the advantage of real time evaluation of the state of the subject. Previous investigations of the closed-loop adaptive automation system in our laboratory, supported by NASA, have employed a compensatory tracking task which involved the use of a joystick to maintain the position of a cursor in the middle of a video screen. This research demonstrated that, in an adaptive automation, closed-loop environment, subjects perform a tracking task better under a negative, compared to a positive, feedback condition. While tracking is comparable to some aspects of flying an airplane, it does not simulate the environment found in the cockpit of modern commercial airplanes. Since a large part of the flying responsibilities in commercial airplanes is automated, the primary responsibility of pilots is to monitor the automation and to respond when the automation fails. Because failures are relatively rare, pilots often suffer from hazardous states of awareness induced by long term vigilance of the automated system. Consequently, the aim of the current study was to investigate the ability of the closed-loop, adaptive automation system in a vigilance paradigm. It is also important to note that tracking involves a continuous, though low level, motor response. Since it is not clear how such activity might affect performance of the adaptive automation system, it was thought to be important to evaluate how the system functioned when there was minimal motor output by the subjects. The current study used the closed-loop system, developed at NASA-Langley Research Center, to control the state of awareness of subjects while they performed a vigilance task. Several experiments were conducted to examine the use of EEG feedback to control a target dimension used in the task. Changes in a subject's arousal, as defined by specific EEG indexes, produced stimulus changes known to affect task performance. In addition, different electrode sites, compared to previous research, were sampled to determine the optimum configuration with regard to the following criteria: (1) task performance and (2) EEG index.

Freeman, Frederick G.↗
NASA NTRS1987

Adaptive control of robotic manipulators

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Seraji, H.↗
NASA NTRS1988

Three degree-of-freedom force feedback control for robotic mating of umbilical lines

The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.

Fullmer, R. Rees↗
NASA NTRS2002

Implementation of Adaptive Digital Controllers on Programmable Logic Devices

Much has been made of the capabilities of FPGA's (Field Programmable Gate Arrays) in the hardware implementation of fast digital signal processing. Such capability also makes an FPGA a suitable platform for the digital implementation of closed loop controllers. Other researchers have implemented a variety of closed-loop digital controllers on FPGA's. Some of these controllers include the widely used proportional-integral-derivative (PID) controller, state space controllers, neural network and fuzzy logic based controllers. There are myriad advantages to utilizing an FPGA for discrete-time control functions which include the capability for reconfiguration when SRAM-based FPGA's are employed, fast parallel implementation of multiple control loops and implementations that can meet space level radiation tolerance requirements in a compact form-factor. Generally, a software implementation on a DSP (Digital Signal Processor) or microcontroller is used to implement digital controllers. At Marshall Space Flight Center, the Control Electronics Group has been studying adaptive discrete-time control of motor driven actuator systems using digital signal processor (DSP) devices. While small form factor, commercial DSP devices are now available with event capture, data conversion, pulse width modulated (PWM) outputs and communication peripherals, these devices are not currently available in designs and packages which meet space level radiation requirements. In general, very few DSP devices are produced that are designed to meet any level of radiation tolerance or hardness. The goal of this effort is to create a fully digital, flight ready controller design that utilizes an FPGA for implementation of signal conditioning for control feedback signals, generation of commands to the controlled system, and hardware insertion of adaptive control algorithm approaches. An alternative is required for compact implementation of such functionality to withstand the harsh environment encountered on spacecraft. Radiation tolerant FPGA's are a feasible option for reaching this goal.

Gwaltney, David A.↗
NASA NTRS1983

Some applications of direct adaptive control to large structural systems

Direct multivariable model reference adaptive control (DMMRAC) applications are considered with a representative example of a large structural system (LSS). Such applications have in the past been shown to be feasible for multivariable systems, provided that there exists a constant feedback gain matrix such that the resulting input-output transfer function is (simply) positive real.

Bar-Kana, I.↗
NASA NTRS2015

M-MRAC Backstepping for Systems with Unknown Virtual Control Coefficients

The paper presents an over-parametrization free certainty equivalence state feedback backstepping adaptive control design method for systems of any relative degree with unmatched uncertainties and unknown virtual control coefficients. It uses a fast prediction model to estimate the unknown parameters, which is independent of the control design. It is shown that the system's input and output tracking errors can be systematically decreased by the proper choice of the design parameters. The benefits of the approach are demonstrated in numerical simulations.

Certainty equivalence control↗
NASA NTRS1986

Keyboard With Voice Output

Voice synthesizer tells what key is about to be depressed. Verbal feedback useful for blind operators or where dim light prevents sighted operator from seeing keyboard. Also used where operator is busy observing other things while keying data into control system. Used as training aid for touch typing, and to train blind operators to use both standard and braille keyboards. Concept adapted to such equipment as typewriters, computers, calculators, telephones, cash registers, and on/off controls.

Huber, W. C.↗
NASA NTRS2002

Implementation of Adaptive Digital Controllers on Programmable Logic Devices

Much has been made of the capabilities of Field Programmable Gate Arrays (FPGA's) in the hardware implementation of fast digital signal processing functions. Such capability also makes an FPGA a suitable platform for the digital implementation of closed loop controllers. Other researchers have implemented a variety of closed-loop digital controllers on FPGA's. Some of these controllers include the widely used Proportional-Integral-Derivative (PID) controller, state space controllers, neural network and fuzzy logic based controllers. There are myriad advantages to utilizing an FPGA for discrete-time control functions which include the capability for reconfiguration when SRAM- based FPGA's are employed, fast parallel implementation of multiple control loops and implementations that can meet space level radiation tolerance requirements in a compact form-factor. Generally, a software implementation on a Digital Signal Processor (DSP) device or microcontroller is used to implement digital controllers. At Marshall Space Flight Center, the Control Electronics Group has been studying adaptive discrete-time control of motor driven actuator systems using DSP devices. While small form factor, commercial DSP devices are now available with event capture, data conversion, Pulse Width Modulated (PWM) outputs and communication peripherals, these devices are not currently available in designs and packages which meet space level radiation requirements. In general, very few DSP devices are produced that are designed to meet any level of radiation tolerance or hardness. An alternative is required for compact implementation of such functionality to withstand the harsh environment encountered on spacemap. The goal of this effort is to create a fully digital, flight ready controller design that utilizes an FPGA for implementation of signal conditioning for control feedback signals, generation of commands to the controlled system, and hardware insertion of adaptive-control algorithm approaches. Radiation tolerant FPGA's are a feasible option for reaching this goal.

Gwaltney, David A.↗
NASA NTRS1986

Two time scale output feedback regulation for ill-conditioned systems

Issues pertaining to the well-posedness of a two time scale approach to the output feedback regulator design problem are examined. An approximate quadratic performance index which reflects a two time scale decomposition of the system dynamics is developed. It is shown that, under mild assumptions, minimization of this cost leads to feedback gains providing a second-order approximation of optimal full system performance. A simplified approach to two time scale feedback design is also developed, in which gains are separately calculated to stabilize the slow and fast subsystem models. By exploiting the notion of combined control and observation spillover suppression, conditions are derived assuring that these gains will stabilize the full-order system. A sequential numerical algorithm is described which obtains output feedback gains minimizing a broad class of performance indices, including the standard LQ case. It is shown that the algorithm converges to a local minimum under nonrestrictive assumptions. This procedure is adapted to and demonstrated for the two time scale design formulations.

Calise, A. J.↗
NASA NTRS1986

Feedback system design with an uncertain plant

A method is developed to design a fixed-parameter compensator for a linear, time-invariant, SISO (single-input single-output) plant model characterized by significant structured, as well as unstructured, uncertainty. The controller minimizes the H(infinity) norm of the worst-case sensitivity function over the operating band and the resulting feedback system exhibits robust stability and robust performance. It is conjectured that such a robust nonadaptive control design technique can be used on-line in an adaptive control system.

Milich, D.↗
NASA NTRS1986

Feedback system design with an uncertain plant

A method is developed to design a fixed-parameter compensator for a linear, time-invariant, SISO (single-output single-output) plant model characterized by significant structured, as well as unstructured, uncertainty. The controller minimizes the H(infinity) norm of the worst-case sensitivity function over the operating band and the resulting feedback system exhibits robust stability and robust performance. It is conjectured that such a robust nonadaptive control design technique can be used on-line in an adaptive control system.

Milich, D.↗
NASA NTRS2007

Method and apparatus for loss of control inhibitor systems

Active and adaptive systems and methods to prevent loss of control incidents by providing tactile feedback to a vehicle operator are disclosed. According to the present invention, an operator gives a control input to an inceptor. An inceptor sensor measures an inceptor input value of the control input. The inceptor input is used as an input to a Steady-State Inceptor Input/Effector Output Model that models the vehicle control system design. A desired effector output from the inceptor input is generated from the model. The desired effector output is compared to an actual effector output to get a distortion metric. A feedback force is generated as a function of the distortion metric. The feedback force is used as an input to a feedback force generator which generates a loss of control inhibitor system (LOCIS) force back to the inceptor. The LOCIS force is felt by the operator through the inceptor.

A'Harrah, Ralph C.↗
NASA NTRS2007

Method and apparatus for loss of control inhibitor systems

Active and adaptive systems and methods to prevent loss of control incidents by providing tactile feedback to a vehicle operator are disclosed. According to the present invention, an operator gives a control input to an inceptor. An inceptor sensor measures an inceptor input value of the control input. The inceptor input is used as an input to a Steady-State Inceptor Input/Effector Output Model that models the vehicle control system design. A desired effector output from the inceptor input is generated from the model. The desired effector output is compared to an actual effector output to get a distortion metric. A feedback force is generated as a function of the distortion metric. The feedback force is used as an input to a feedback force generator which generates a loss of control inhibitor system (LOCIS) force back to the inceptor. The LOCIS force is felt by the operator through the inceptor.

A'Harrah, Ralph C.↗
NASA NTRS1975

Standardized multiple output power supply

A comprehensive program to develop a prototype model of a standardized multiple output power supply for use in space flight applications is described. The prototype unit was tested and evaluated to assure that the design would provide near optimum performance for the planned application. The prototype design used a dc-to-dc converter incorporating reqenerative current feedback with a time-ratio controlled duty cycle to achieve high efficiency over a wide variation of input voltage and output loads. The packaging concept uses a mainframe capable of accommodating up to four inverter/regulator modules with one common input filter and housekeeping module. Each inverter/regulator module provides a maximum of 100 watts or 10 amperes. Each module is adaptable to operate at any voltage between 4.0 volts and 108 volts. The prototype unit contains +5, + or - 15 and +28 volt modules.

Ragusa, E. V.↗
NASA NTRS2012

Certainty Equivalence M-MRAC for Systems with Unmatched Uncertainties

The paper presents a certainty equivalence state feedback indirect adaptive control design method for the systems of any relative degree with unmatched uncertainties. The approach is based on the parameter identification (estimation) model, which is completely separated from the control design and is capable of producing parameter estimates as fast as the computing power allows without generating high frequency oscillations. It is shown that the system's input and output tracking errors can be systematically decreased by the proper choice of the design parameters.

Unmatched uncertainties↗
NASA NTRSDate not supplied

Reduced-Order Aerodynamic Modeling Based on CFD Frequency Responses from Multisine Inputs

A system identification analysis was performed to determine a reduced-order model (ROM) of a computational fluid dynamics (CFD) solver in support of linear aeroservoelastic model development and feedback control design. The approach was applied to the FUN3D code for the half-span wind tunnel test article used in the NASA-Boeing collaboration called the Integrated Adaptive Wing Technology Maturation (IAWTM) project. In a transonic flow condition, multiple inputs (11 structural mode displacements and 3 control surface deflections) were simultaneously excited with orthogonal phase-optimized multisines while multiple outputs (the corresponding 14 generalized aerodynamic forces) were recorded. From these recorded times series, the matrix of frequency responses was computed and subsequently fit using rational function approximations (RFAs). It was found that the entire (14 x 14) matrix of frequency responses could be determined from a single CFD run and that results generally followed trends predicted using other methods. Differences were attributed to the modeling fidelity and nonlinearities from structural mode and control surface interactions at higher reduced frequencies. More accurate fits of the RFAs to the frequency response data were obtained by making two CFD runs, one with only structural mode excitations and one with only control surface excitations, which reduced the degree of nonlinearity in the modeling data.

Aeroservoelasticity↗