Search NASA⌕ Search

SEARCH · Search NASA

Results for “hybrid 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 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1975

Contamination control in hybrid microelectronic modules. Part 3: Specifications for coating material and process controls

Resin systems for coating hybrids prior to hermetic sealing are described. The resin systems are a flexible silicone junction resin system and a flexible cycloaliphatic epoxy resin system. The coatings are intended for application to the hybrid after all the chips have been assembled and wire bonded, but prior to hermetic sealing of the package. The purpose of the coating is to control particulate contamination by immobilizing particles and by passivating the hybrid. Recommended process controls for the purpose of minimizing contamination in hybrid microcircuit packages are given. Emphasis is placed on those critical hybrid processing steps in which contamination is most likely to occur.

Himmel, R. P.↗
NASA NTRS1998

Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances

Predictive feedback control has been successfully used in the regulation of plate vibrations when no reference signal is available for feedforward control. However, if a reference signal is available it may be used to enhance regulation by incorporating a feedforward path in the feedback controller. Such a controller is known as a hybrid controller. This paper presents the theory and implementation of the hybrid controller for general linear systems, in particular for structural vibration induced by acoustic noise. The generalized predictive control is extended to include a feedforward path in the multi-input multi-output case and implemented on a single-input single-output test plant to achieve plate vibration regulation. There are cases in acoustic-induce vibration where the disturbance signal is not available to be used by the hybrid controller, but a disturbance model is available. In this case the disturbance model may be used in the feedback controller to enhance performance. In practice, however, neither the disturbance signal nor the disturbance model is available. This paper presents the theory of identifying and incorporating the noise model into the feedback controller. Implementations are performed on a test plant and regulation improvements over the case where no noise model is used are demonstrated.

Juang, Jer-Nan↗
DOE OSTI2020

Distributed Cooperative Control of Hybrid AC/DC Microgrid

This paper presents a distributed cooperative control-based power management algorithm for a hybrid AC/DC microgrid. The proposed algorithm for a hybrid microgrid system controls the power flow through the interface converter between the AC and DC microgrids. This algorithm allows power sharing between the distributed generators in the microgrid according to their power ratings. Moreover, it enables the fixed scheduled power delivery through the interface converters in both directions at different operating conditions while maintaining voltage regulation and improving the frequency profile. The effectiveness of the controller is confirmed by simulation.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS1999

Cellular Decomposition Based Hybrid-Hierarchical Control Systems with Applications to Flight Management Systems

The work in this research project has been focused on the construction of a hierarchical hybrid control theory which is applicable to flight management systems. The motivation and underlying philosophical position for this work has been that the scale, inherent complexity and the large number of agents (aircraft) involved in an air traffic system imply that a hierarchical modelling and control methodology is required for its management and real time control. In the current work the complex discrete or continuous state space of a system with a small number of agents is aggregated in such a way that discrete (finite state machine or supervisory automaton) controlled dynamics are abstracted from the system's behaviour. High level control may then be either directly applied at this abstracted level, or, if this is in itself of significant complexity, further layers of abstractions may be created to produce a system with an acceptable degree of complexity at each level. By the nature of this construction, high level commands are necessarily realizable at lower levels in the system.

Caines, P. E.↗
NASA NTRS1982

Hybrid Position/Force Control of Robot Manipulators

In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.

Raibert, M. H.↗
NASA NTRS1989

Method and apparatus for hybrid position/force control of multi-arm cooperating robots

Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

Hayati, Samad A.↗
NASA NTRS2013

Effects of Hybrid Flow Control on a Normal Shock Boundary-Layer Interaction

Hybrid flow control, a combination of micro-ramps and steady micro-jets, was experimentally investigated in the 15x15 cm Supersonic Wind Tunnel at the NASA Glenn Research Center. A central composite design of experiments method, was used to develop response surfaces for boundary-layer thickness and reversed-flow thickness, with factor variables of inter-ramp spacing, ramp height and chord length, and flow injection ratio. Boundary-layer measurements and wall static pressure data were used to understand flow separation characteristics. A limited number of profiles were measured in the corners of the tunnel to aid in understanding the three-dimensional characteristics of the flowfield.

Hirt, Stefanie M.↗
NASA NTRS2009

Parameter Estimation for a Hybrid Adaptive Flight Controller

This paper expands on the hybrid control architecture developed at the NASA Ames Research Center by addressing issues related to indirect adaptation using the recursive least squares (RLS) algorithm. Specifically, the hybrid control architecture is an adaptive flight controller that features both direct and indirect adaptation techniques. This paper will focus almost exclusively on the modifications necessary to achieve quality indirect adaptive control. Additionally this paper will present results that, using a full non -linear aircraft model, demonstrate the effectiveness of the hybrid control architecture given drastic changes in an aircraft s dynamics. Throughout the development of this topic, a thorough discussion of the RLS algorithm as a system identification technique will be provided along with results from seven well-known modifications to the popular RLS algorithm.

Campbell, Stefan F.↗
NASA NTRS2008

Bounded Linear Stability Margin Analysis of Nonlinear Hybrid Adaptive Control

This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin. This method can enable metrics-driven adaptive control whereby the adaptive gain is adjusted to meet stability margin requirements.

Nguyen, Nhan T.↗
NASA NTRS1988

Robot arm force control through system linearization by nonlinear feedback

Based on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporate the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented.

Tarn, T. J.↗
NASA NTRS1991

System For Research On Multiple-Arm Robots

Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

Backes, Paul G.↗
NASA NTRS1986

Hybrid position/force control of multi-arm cooperating robots

This paper extends the theory of hybrid position/force control to the case of multi-arm cooperating robots. Cooperation between n robot arms is achieved by controlling each arm such that the burden of actuation is shared between the arms in a nonconflicting way as they control the position of and force on a designated point on an object. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. Natural and artificial position and force constraints are defined for a point on the object and two selection matrices are obtained to control the arms. The position control loops are designed based on each manipulator's Cartesian space dynamic equations. In the position control subspace, a feature is provided which allows the robot arms to exert additional forces/torques to achieve compression, tension, or torsion in the object without affecting the execution of the motion trajectories. In the force control subspace, a method is introduced to minimize the total force/torque magnitude square while realizing the net desired force/torque on the environment.

Hayati, Samad↗
DOE OSTI2025

On optimal control of hybrid dynamical systems using complementarity constraints

Optimal control for switch-based dynamical systems is a challenging problem in the process control literature. In this study, we model these systems as hybrid dynamical systems with finite number of unknown switching points and reformulate them using non-smooth and non-convex complementarity constraints as a mathematical program with complementarity constraints (MPCC). We utilize a moving finite element based strategy to discretize the differential equation system to accurately locate the unknown switching points at the finite element boundary and achieve high-order accuracy at intermediate non-collocation points. We propose a globalization approach to solve the discretized MPCC problem using a mixed NLP/MILP-based strategy to converge to a non-spurious first-order optimal solution. The method is tested on three dynamic optimization examples, including a gas–liquid tank model and an optimal control problem with a sliding mode solution.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1987

Design of force/position controllers for manipulators

The paper presents simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecture. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal; and accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Seraji, H.↗
NASA NTRS1987

A shared position/force control methodology for teleoperation

A flexible and computationally efficient shared position/force control concept and its implementation in the Robot Control C Library (RCCL) are presented form the point of teleoperation. This methodology enables certain degrees of freedom to be position-controlled through real time manual inputs and the remaining degrees of freedom to be force-controlled by computer. Functionally, it is a hybrid control scheme in that certain degrees of freedom are designated to be under position control, and the remaining degrees of freedom to be under force control. However, the methodology is also a shared control scheme because some degrees of freedom can be put under manual control and the other degrees of freedom put under computer control. Unlike other hybrid control schemes, which process position and force commands independently, this scheme provides a force control loop built on top of a position control inner loop. This feature minimizes the computational burden and increases disturbance rejection. A simple implementation is achieved partly because the joint control servos that are part of most robots can be used to provide the position control inner loop. Along with this control scheme, several menus were implemented for the convenience of the user. The implemented control scheme was successfully demonstrated for the tasks of hinged-panel opening and peg-in-hole insertion.

Lee, Jin S.↗
NASA NTRS1999

Hybrid Thermal Control Testing of a Cryogenic Propellant Tank

This report presents the experimental results of a hybrid thermal control system, one that integrates a passive system (multi-layer insulation) with an active system (a mechanical cyrocooler) applied to cryogenic propellant storage. These experiments were performed on a 1.39 m diameter spherical propellant tank filled with LH2 while installed in an evacuated chamber. The tank heat transfer to the cryocooler was accomplished with a condenser installed in the ullage of the tank and mated to the second stage of the cooler, and by conduction, through copper leaves mated to the first stage of the cooler. The first hybrid system test was performed with both the condenser and the leaves, a configuration that had excess capacity to remove the heat entering the tank; the second test was performed with only the condenser, with a capacity closely matched to the tank heating rate. In both of these tests, the goal of zero boil-off was achieved.

Plachta, David W.↗