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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 721 records · Page 40
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Nonlinear modeling of a long flexible manipulator and control by inertial devices

The authors consider the modeling and control of a planar, long flexible manipulator that is representative of current space-based robotic arms. The arm is equipped with three actuators: 1) a shoulder motor; 2) a torque wheel at the tip; and 3) a proof-mass actuator at the tip. The goal is to investigate the potential use of inertial devices as control inputs for maneuvering tasks and vibration suppression. The parameters used for the inertial devices at the tip are comparable to those specified for the Mini-Mast facility at the Langley Research Center. A nonlinear distributed parameter model is obtained by the extended Hamilton principle. The associated eigenvalue/eigenfunction problem is solved and a finite-dimensional state space model is assembled. A preliminary design of a linear quadratic regulator is used, and computer simulation results illustrate the benefits of using the proposed actuators.

Barbieri, Enrique↗
NASA NTRS2005

Small Body GN&C Research Report: A Robust Model Predictive Control Algorithm with Guaranteed Resolvability

A robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems is developed that guarantees the resolvability of the associated finite-horizon optimal control problem in a receding-horizon implementation. The control consists of two components; (i) feedforward, and (ii) feedback part. Feed-forward control is obtained by online solution of a finite-horizon optimal control problem for the nominal system dynamics. The feedback control policy is designed off-line based on a bound on the uncertainty in the system model. The entire controller is shown to be robustly stabilizing with a region of attraction composed of initial states for which the finite-horizon optimal control problem is feasible. The controller design for this algorithm is demonstrated on a class of systems with uncertain nonlinear terms that have norm-bounded derivatives, and derivatives in polytopes. An illustrative numerical example is also provided.

model predictive control algorithm (MPC)↗
NASA NTRS1997

Adaptive Performance Seeking Control Using Fuzzy Model Reference Learning Control and Positive Gradient Control

Performance Seeking Control attempts to find the operating condition that will generate optimal performance and control the plant at that operating condition. In this paper a nonlinear multivariable Adaptive Performance Seeking Control (APSC) methodology will be developed and it will be demonstrated on a nonlinear system. The APSC is comprised of the Positive Gradient Control (PGC) and the Fuzzy Model Reference Learning Control (FMRLC). The PGC computes the positive gradients of the desired performance function with respect to the control inputs in order to drive the plant set points to the operating point that will produce optimal performance. The PGC approach will be derived in this paper. The feedback control of the plant is performed by the FMRLC. For the FMRLC, the conventional fuzzy model reference learning control methodology is utilized, with guidelines generated here for the effective tuning of the FMRLC controller.

Kopasakis, George↗
NASA NTRS1997

Nonlinear Behavior of a Typical Airfoil Section with Control Surface Freeplay: A Numerical and Experimental Study

A three degree-of-freedom aeroelastic typical section with control surface freeplay is modeled theoretically as a system of piecewise linear state-space models. The system response is determined by time marching of the governing equations using a standard Runge-Kutta algorithm in conjunction with Henon's method for integrating a system of equations to a prescribed surface of phase space section. Henon's method is used to locate the "switching points" accurately and efficiently as the system moves from one linear region into another. An experimental model which closely approximates the three degree-of-freedom, typical section in two-dimensional, incompressible flow has been created to validate the theoretical model. Consideration is given to modeling realistically the structural damping present in the experimental system. The effect of the freeplay on the system response is examined numerically and experimentally. The development of the state-space model offers a low-order, computationally efficient means of modeling fully the freeplay nonlinearity and may offer advantages in future research which will investigate the effects of freeplay on the control of flutter in the typical section.

Conner, M. D.↗
NASA NTRS1972

A closed loop cryogenic environment pressure regulating system

Nonlinear closed loop control system to regulate the pressure in a cryogenic environment is described. System employs four position contactor with two control bands to react to the signals. Diagrams of element transfer function and required equipment are included.

Huguley, J. C.↗
NASA NTRS1977

Digital control of high performance aircraft using adaptive estimation techniques

In this paper, an adaptive signal processing algorithm is joined with gain-scheduling for controlling the dynamics of high performance aircraft. A technique is presented for a reduced-order model (the longitudinal dynamics) of a high performance STOL aircraft. The actual controller views the nonlinear behavior of the aircraft as equivalent to a randomly switching sequence of linear models taken from a preliminary piecewise-linear fit of the system nonlinearities. The adaptive nature of the estimator is necessary to select the proper sequence of linear models along the flight trajectory. Nonlinear behavior is approximated by effective switching of the linear models at random times, with durations reflecting aircraft motion in response to pilot commands.

Van Landingham, H. F.↗
NASA NTRS1977

Error rate information in attention allocation pilot models

The Northrop urgency decision pilot model was used in a command tracking task to compare the optimized performance of multiaxis attention allocation pilot models whose urgency functions were (1) based on tracking error alone, and (2) based on both tracking error and error rate. A matrix of system dynamics and command inputs was employed, to create both symmetric and asymmetric two axis compensatory tracking tasks. All tasks were single loop on each axis. Analysis showed that a model that allocates control attention through nonlinear urgency functions using only error information could not achieve performance of the full model whose attention shifting algorithm included both error and error rate terms. Subsequent to this analysis, tracking performance predictions for the full model were verified by piloted flight simulation. Complete model and simulation data are presented.

Faulkner, W. H.↗
NASA NTRS1980

Operational implications of some NACA/NASA rotary wing induced velocity studies

The purpose of the paper is to present some highlights of the broad NACA/NASA efforts throughout the years, with particular emphasis given to those results having special importance to aircraft users. Subjects covered include the rotor wake and vortex hazards, partial power descent and minimum speed for autorotation. Several aspects of ground effect are covered, including nonuniform wakes, nonlinear power and control effects in forward flight, and yaw control at near-hovering speeds.

Heyson, H. H.↗
NASA NTRS1985

Vibration control experiment design for the 15-m hoop/column antenna

A test program is designed for a ground-based vibration control experiment utilizing as the test article the 15-M Hoop/Column Antenna. Overall objectives of the designed ground-based test program include: (1) the validation of large space structure (LSS) control systemm techniques; (2) the validation of LSS parameter identification techniques: (3) the evaluation of actuator of actuator and sensor placement methodology; and (3) the validation of LSS computer models. Critical concerns in LSS Controls and Dynamics are: low frequency vibrational modes, close modal spacing, parameter uncertainties, controller software limitations, nonlinearities and coupling of modes through damping. Analytical results are presented which include compensator designs for varying compensator order.

Ham, F. M.↗
NASA NTRS1985

Recent research on magnetospheric wave-particle interactions

Highlights of recent Stanford University VLF research in the Antarctic include new observations of wave-induced particle precipitation and controlled experiments on nonlinear wave growth phenomena. Higher-than-expected levels of burst precipitation have been discovered inside the plasmasphere, near L = 2, using subionospheric signal perturbations called 'Trimpi events'. Studies of burst precipitation have been extended to the region poleward of the plasmapause using the Siple transmitter signal as a waveguide probe. Experiments on the 'coherent wave instability', using the amplitude and frequency modulation capability of the new Siple transmitter, have produced exciting new results. Examples are: (1) better definition of the power threshold for the stimulation of temporal wave growth, (2) generation of strong sidebands by unamplified 'beat' waves and (3) generation of chorus-like elements within a band of simulated hiss. Using a new digital processing technique developed at Stanford, new features of the phase behavior of growing waves have been found. Opportunities for extending these experiments are discussed.

Helliwell, R. A.↗
NASA NTRS1989

Parallel and vector computation for stochastic optimal control applications

A general method for parallel and vector numerical solutions of stochastic dynamic programming problems is described for optimal control of general nonlinear, continuous time, multibody dynamical systems, perturbed by Poisson as well as Gaussian random white noise. Possible applications include lumped flight dynamics models for uncertain environments, such as large scale and background random atmospheric fluctuations. The numerical formulation is highly suitable for a vector multiprocessor or vectorizing supercomputer, and results exhibit high processor efficiency and numerical stability. Advanced computing techniques, data structures, and hardware help alleviate Bellman's curse of dimensionality in dynamic programming computations.

Hanson, F. B.↗
NASA NTRS1991

Modeling and Control of the Automated Radiator Inspection Device

Many of the operations performed at the Kennedy Space Center (KSC) are dangerous and repetitive tasks which make them ideal candidates for robotic applications. For one specific application, KSC is currently in the process of designing and constructing a robot called the Automated Radiator Inspection Device (ARID), to inspect the radiator panels on the orbiter. The following aspects of the ARID project are discussed: modeling of the ARID; design of control algorithms; and nonlinear based simulation of the ARID. Recommendations to assist KSC personnel in the successful completion of the ARID project are given.

Dawson, Darren↗
NASA NTRS1992

Nonlinearly stable compact schemes for shock calculations

The applications of high-order, compact finite difference methods in shock calculations are discussed. The main concern is to define a local mean which will serve as a reference for introducing a local nonlinear limiting to control spurious numerical oscillations while maintaining the formal accuracy of the scheme. For scalar conservation laws, the resulting schemes can be proven total-variation stable in one space dimension and maximum-norm stable in multiple space dimensions. Numerical examples are shown to verify accuracy and stability of such schemes for problems containing shocks. These ideas can also be applied to other implicit schemes such as the continuous Galerkin finite element methods.

Cockburn, Bernardo↗
NASA NTRS1993

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Montgomery, Raymond C.↗