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DOE OSTI2021

Asynchronous quadratic control for constrained hidden markov jump linear systems with incomplete MTPM and MOCPM

Abstract This paper investigates the quadratic optimal control problem for constrained Markov jump linear systems with incomplete mode transition probability matrix (MTPM). Considering original system mode is not accessible, observed mode is utilized for asynchronous controller design where mode observation conditional probability matrix (MOCPM), which characterizes the emission between original modes and observed modes is assumed to be partially known. An LMI optimization problem is formulated for such constrained hidden Markov jump linear systems with incomplete MTPM and MOCPM. Based on this, a feasible state-feedback controller can be designed with the application of free-connection weighting matrix method. The desired controller, dependent on observed mode, is an asynchronous one which can minimize the upper bound of quadratic cost and satisfy restrictions on system states and control variables. Furthermore, clustering observation where observed modes recast into several clusters, is explored for simplifying the computational complexity. Numerical examples are provided to illustrate the validity.

Zhu, Jin↗

DOE OSTI2022

Investigating effects of relativistic kinematics, dimensionality, interactions, and short-range correlations on the ratio of quartic over quadratic nuclear symmetry energies

While ample evidence for the so-called empirical parabolic law of the Equation of State (EOS) of isospin asymmetric nuclear matter (ANM) has been obtained in many studies within both non-relativistic and relativistic nuclear many-body theories using various interactions, it has been unclear if there is any fundamental physics reason for the small quartic symmetry energy compared to the quadratic one even as the ANM approaches pure neutron matter. Within both relativistic and non-relativistic Free Fermi Gas (FFG) models in coordinate spaces of arbitrary dimension d with and without considering Short-Range Correlations (SRC) as well as non-linear Relativistic Mean Field (RMF) models, we study effects of relativistic kinematics, dimensionality, interactions and SRC on the ratio Ψ(ρ) of quartic over quadratic symmetry energies in ANM EOSs. We found that the ratio Ψ(ρ) in the FFG model depends strongly on the dimension d. While it is very small already in the normal 3D space, it could be even smaller in spaces with reduced dimensions for sub-systems of particles in heavy-ion reactions and/or whole neutron stars due to constraints, collectivities and/or symmetries. Here, we also found that the ratio Ψ(ρ) could theoretically become very large only at the ultra-relativistic limit far above the density reachable in neutron stars. On the other hand, nuclear interaction directly and/or indirectly through SRC-induced high-momentum nucleons affect significantly the density dependence of Ψ(ρ) compared to the relativistic FFG model prediction. The SRC affects significantly not only the kinetic energy of symmetric nuclear matter but also the ratio Ψ(ρ) while the relativistic corrections are found negligible. The results may help better understand the EOS of dense neutron-rich matter.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2024

Wake forces in a background of quadratically coupled mediators

Two particles can exert forces on each other when embedded in a sea of weakly coupled particles. These “wake forces” occur whenever the source and target particles have quadratic interactions with the mediating particles; they are proportional to the ambient energy density and typically have a range of order the characteristic de Broglie wavelength of the background. The effect can be understood as source particles causing a disturbance in the background waves—a wake—which subsequently interacts with the target particles. Wake forces can be mediated by bosons or fermions, can have spin dependence, may be attractive or repulsive, and have a generally anisotropic spatial profile and range that depends on the phase-space distribution of the ambient particles. In this work, I investigate the application of wake forces to dark matter searches, recast existing limits on short-range forces into leading constraints on dark matter with quadratic couplings, and sketch out potential experimental modifications to optimize sensitivity. Wake forces occur in the Standard Model: the presence of the cosmic neutrino background induces a millimeter-range force about 22 orders of magnitude weaker than gravity. Wake forces may also be relevant in condensed-matter and atomic physics. Published by the American Physical Society 2024

Astronomy & Astrophysics↗

DOE OSTI2023

Adaptive Path-Following Control for Ground Vehicles Using a Switching Non-Quadratic Lyapunov Function

The application of adaptive control techniques in the development of control systems for intelligent vehicles, especially for ground vehicle path-following controllers, has gained popularity due to their ability to handle large-scale parametric uncertainties. However, the use of a standard quadratic Lyapunov function in existing adaptive control-based path-following controllers can lead to poor transient performance, such as slow convergence and/or large overshoot. To address this limitation, this study proposes the use of a switching non-quadratic Lyapunov function to design a model reference adaptive path-following controller that aims to provide superior transient performance. The stability and signal convergence of the closed-loop system are demonstrated through a Lyapunov-like analysis. Through dSPACE ASM simulation, the effectiveness of the proposed controller is illustrated, which confirms improved tracking performance over a baseline solution.

Zhou, Xingyu↗

NASA NTRS1970

Quadratic Liapunov functions

Criteria for estimating errors in quadratic approximations to asymptotic stability involving Popov condition based on existence of quadratic Liapunov functions

Weissenberger, S.↗

NASA NTRS1973

Equivalence of quadratic performance criteria.

Necessary and sufficient conditions are derived in terms of system parameters and quadratic weighting matrices for two quadratic cost functionals that are defined to be equivalent if they generate the same optimal control law. The derived conditions lie between the conditions of Tanaka and Asai (1971) and those of Kreindler and Hedrick (1970). Sufficient conditions for a vector valued function to attain an infimum are stated.

Martin, C.↗

NASA NTRS1974

An empirical analysis of the quantitative effect of data when fitting quadratic and cubic polynomials

A study is made of the extent to which the size of the sample affects the accuracy of a quadratic or a cubic polynomial approximation of an experimentally observed quantity, and the trend with regard to improvement in the accuracy of the approximation as a function of sample size is established. The task is made possible through a simulated analysis carried out by the Monte Carlo method in which data are simulated by using several transcendental or algebraic functions as models. Contaminated data of varying amounts are fitted to either quadratic or cubic polynomials, and the behavior of the mean-squared error of the residual variance is determined as a function of sample size. Results indicate that the effect of the size of the sample is significant only for relatively small sizes and diminishes drastically for moderate and large amounts of experimental data.

Canavos, G. C.↗

NASA NTRS1975

A variable-metric algorithm employing linear and quadratic penalties

A variable-metric algorithm is described that uses both linear and quadratic penalty terms for handling nonlinear constraints. Quadratic penalty coefficients are adjusted in a process which maintains a positive-definite matrix of second partial derivatives of the function without generating the large positive eigenvalues which cause zigzagging and slow convergence. The schemes suggested use inferred second-order properties not only in terms of the variable metric of the Davidson-Fletcher-Powell algorithm (or its relatives) but by estimating of second directional derivatives by fitting cubics to various functions along search directions.

Kelley, H. J.↗

NASA NTRS1975

Numerical solution of quadratic matrix equations for free vibration analysis of structures

This paper is concerned with the efficient and accurate solution of the eigenvalue problem represented by quadratic matrix equations. Such matrix forms are obtained in connection with the free vibration analysis of structures, discretized by finite 'dynamic' elements, resulting in frequency-dependent stiffness and inertia matrices. The paper presents a new numerical solution procedure of the quadratic matrix equations, based on a combined Sturm sequence and inverse iteration technique enabling economical and accurate determination of a few required eigenvalues and associated vectors. An alternative procedure based on a simultaneous iteration procedure is also described when only the first few modes are the usual requirement. The employment of finite dynamic elements in conjunction with the presently developed eigenvalue routines results in a most significant economy in the dynamic analysis of structures.

Gupta, K. K.↗

NASA NTRS1977

Robustness in linear quadratic feedback design with application to an aircraft control problem

Some new results concerning robustness and asymptotic properties of error bounds of a linear quadratic feedback design are applied to an aircraft control problem. An autopilot for the flare control of the Augmentor Wing Jet STOL Research Aircraft (AWJSRA) is designed based on Linear Quadratic (LQ) theory and the results developed in this paper. The variation of the error bounds to changes in the weighting matrices in the LQ design is studied by computer simulations, and appropriate weighting matrices are chosen to obtain a reasonable error bound for variations in the system matrix and at the same time meet the practical constraints for the flare maneuver of the AWJSRA. Results from the computer simulation of a satisfactory autopilot design for the flare control of the AWJSRA are presented.

Patel, R. V.↗

NASA NTRS1977

Robustness of linear quadratic state feedback designs in the presence of system uncertainty

In connection with difficulties concerning an accurate mathematical representation of a linear quadratic state feedback (LQSF) system, it is often necessary to investigate the robustness (stability) of an LQSF design in the presence of system uncertainty and obtain some quantitative measure of the perturbations which such a design can tolerate. A study is conducted concerning the problem of expressing the robustness property of an LQSF design quantitatively in terms of bounds on the perturbations (modeling errors or parameter variations) in the system matrices. Bounds are obtained for the general case of nonlinear, time-varying perturbations. It is pointed out that most of the presented results are readily applicable to practical situations for which a designer has estimates of the bounds on the system parameter perturbations. Relations are provided which help the designer to select appropriate weighting matrices in the quadratic performance index to attain a robust design. The developed results are employed in the design of an autopilot logic for the flare maneuver of the Augmentor Wing Jet STOL Research Aircraft.

Patel, R. V.↗

NASA NTRS1979

Extension of the coherence function to quadratic models

It is shown how the use of higher coherence functions can recover some of the lost coherence due to nonlinear relationship between two fluctuating quantities whose degree of mutual coherence is being measured. The relationship between the two processes is modeled with the aid of a linear term and a quadratic term. As a specific example, the relationship between plasma density and potential fluctuations in a plasma is considered. The fraction of power in the auto-power spectrum of the potential fluctuations due to a linear relationship and to a quadratic relationship between the density and potential fluctuations is estimated.

Kim, Y. C.↗

NASA NTRS1979

Analysis of integral controls in linear quadratic regulator design

The application of linear optimal control to the design of systems with integral control action on specified outputs is considered. Using integral terms in a quadratic performance index, an asymptotic analysis is used to determine the effect of variable quadratic weights on the eigenvalues and eigenvectors of the closed loop system. It is shown that for small integral terms the placement of integrator poles and gain calculation can be effectively decoupled from placement of the primary system eigenvalues. This technique is applied to the design of integral controls for a STOL aircraft outer loop guidance system.

Slater, G. L.↗

NASA NTRS1979

Generalized quadratic weights for asymptotic regulator properties

The paper describes a generalized quadratic weight selection procedure based on asymptotic modal properties of linear-quadratic regulators as control weights tend to zero. Explicit formulas are developed for weighting matrices which produce an asymptotic eigenstructure consisting of p no greater than n - m finite modes, with the rest tending to infinity in selectable Butterworth patterns or determined by other secondary design considerations.

Stein, G.↗

NASA NTRS1979

Generalized quadratic weights for asymptotic regulator properties

This paper describes a generalized quadratic weight selection procedure based on asymptotic modal properties of linear-quadratic regulators as control weights tend to zero. Explicit formulas are developed for weighting matrices which produce an asymptotic eigen-structure consisting of p less than or equal to n-m finite modes, with the rest tending to infinity in selectable Butterworth patterns or determined by other secondary design considerations.

Stein, G.↗

NASA NTRS1981

Robustness results in linear-quadratic Gaussian based multivariable control designs

The robustness of control systems with respect to model uncertainty is considered using simple frequency domain criteria. Available and new results are derived under a common framework in which the minimum singular value of the return difference transfer matrix is the key quantity. In particular, robustness results associated with multivariable control systems designed on the basis of linear-quadratic (LQ) and the linear-quadratic Gaussian (LQG) design methodologies are presented.

Lehtomaki, N. A.↗

NASA NTRS1983

An application of nonlinear programming to the design of regulators of a linear-quadratic formulation

A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a nonlinear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer. One concerns helicopter longitudinal dynamics and the other the flight dynamics of an aerodynamically unstable aircraft.

Fleming, P.↗

NASA NTRS1985

A non-linear programming approach to the computer-aided design of regulators using a linear-quadratic formulation

A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a non-linear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer-aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer.

Fleming, P.↗