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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 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Robust control of nonlinear flexible multibody systems using quaternion feedback and dissipative compensation

Global asymptotic stability of a class of nonlinear multibody flexible space structures under dissipative compensation is established. Two cases are considered. The first case allows unlimited nonlinear motions of the entire system and uses quaternion feedback. The second case assumes that the central body motion is in the linear range although the other bodies can undergo unrestricted nonlinear motion. The stability is proved to be robust to the inherent modeling nonlinearities and uncertainties. Furthermore, for the second case, the stability is also shown to be robust to certain actuator and sensor nonlinearities. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems. The results are applicable to a wide class of systems, including flexible space structures with articulated flexible appendages.

Kelkar, Atul G.↗
NASA NTRS1994

Robust control of nonlinear flexible multibody systems using quaternion feedback and dissipative compensation

Global asymptotic stability of a class of nonlinear multibody flexible space-stnuctures under dissipative compensation is established. Two cases are considered. The first case allows unlimited nonlinear motions of the entire system and uses quaternion feedback. The second case assumes that the central body motion is in the linear range although the other bodies can undergo unrestricted nonlinear motion. The stability is proved to be robust to the inherent modeling nonlinearities and uncertainties. Furthermore for the second case the stability is also shown to be robust to certain actuator and sensor nonlinearities. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems. The results are applicable to a wide class of systems including flexible space-structures with articulated flexible appendages.

Kelkar, Atul G.↗
NASA NTRS1999

Optimal Variable-Structure Control Tracking of Spacecraft Maneuvers

An optimal control approach using variable-structure (sliding-mode) tracking for large angle spacecraft maneuvers is presented. The approach expands upon a previously derived regulation result using a quaternion parameterization for the kinematic equations of motion. This parameterization is used since it is free of singularities. The main contribution of this paper is the utilization of a simple term in the control law that produces a maneuver to the reference attitude trajectory in the shortest distance. Also, a multiplicative error quaternion between the desired and actual attitude is used to derive the control law. Sliding-mode switching surfaces are derived using an optimal-control analysis. Control laws are given using either external torque commands or reaction wheel commands. Global asymptotic stability is shown for both cases using a Lyapunov analysis. Simulation results are shown which use the new control strategy to stabilize the motion of the Microwave Anisotropy Probe spacecraft.

John L. Crassidis↗
NASA NTRS2003

First Results from a Hardware-in-the-Loop Demonstration of Closed-Loop Autonomous Formation Flying

A closed-loop system for the demonstration of autonomous satellite formation flying technologies using hardware-in-the-loop has been developed. Making use of a GPS signal simulator with a dual radio frequency outlet, the system includes two GPS space receivers as well as a powerful onboard navigation processor dedicated to the GPS-based guidance, navigation, and control of a satellite formation in real-time. The closed-loop system allows realistic simulations of autonomous formation flying scenarios, enabling research in the fields of tracking and orbit control strategies for a wide range of applications. The autonomous closed-loop formation acquisition and keeping strategy is based on Lyapunov's direct control method as applied to the standard set of Keplerian elements. This approach not only assures global and asymptotic stability of the control but also maintains valuable physical insight into the applied control vectors. Furthermore, the approach can account for system uncertainties and effectively avoids a computationally expensive solution of the two point boundary problem, which renders the concept particularly attractive for implementation in onboard processors. A guidance law has been developed which strictly separates the relative from the absolute motion, thus avoiding the numerical integration of a target trajectory in the onboard processor. Moreover, upon using precise kinematic relative GPS solutions, a dynamical modeling or filtering is avoided which provides for an efficient implementation of the process on an onboard processor. A sample formation flying scenario has been created aiming at the autonomous transition of a Low Earth Orbit satellite formation from an initial along-track separation of 800 m to a target distance of 100 m. Assuming a low-thrust actuator which may be accommodated on a small satellite, a typical control accuracy of less than 5 m has been achieved which proves the applicability of autonomous formation flying techniques to formations of satellites as close as 50 m.

Gill, E.↗
NASA NTRS2007

Bifurcation and Hysteresis of the Magnetospheric Structure with a varying Southward IMF: Field Topology and Global Three-dimensional Full Particle Simulations

Using a three-dimensional full electromagnetic particle model (EMPM), we have performed global simulations of the interaction between the solar wind and the terrestrial magnetosphere, and have investigated its asymptotic stability. The distance between the dayside magnetopause subsolar point and the Earth center, R(sub mp) is measured, as the intensity of southward IMF |B(sub z)| is slowly varying. Based on the field topology theory, one analyzes the variation of R(sub mp) as a reference index of the dynamics of this interaction, when IMF |B(sub z)| successively increases and decreases to its original value. Two striking results are observed. First, as the IMF |B(sub z)| increases above a critical value, the variation of R(sub mp) suddenly changes (so called 'bifurcation' process in field topology). Above this critical value, the overall magnetic field topology changes drastically and is identified as being the signature of magnetic reconnection at the subsolar point on the magnetopause. Second, this subsolar point recovers its original location R(sub mp) by following different paths as the IMF |B(sub z)| value increases (from zero to a maximum fixed value) and decreases (from this maximum to zero) passing through some critical values. These different paths are the signature of 'hysteresis' effect, and are characteristic of the so-called 'subcritical-type' bifurcation. This hysteresis signature indicates that dissipation processes take place via an energy transfer from the solar wind to the magnetosphere by some irreversible way, which leads to a drastic change in the magnetospheric field topology. This hysteresis is interpreted herein as a consequence of the magnetic reconnection taking place at the dayside magnetopause. The field topology reveals to be a very powerful tool to analyze the signatures of three-dimensional magnetic reconnection without the obligation for determining the mechanisms responsible for, and the consequences of the reconnection on the overall magnetospheric dynamics.

Cai, DongSheng↗
NASA NTRS1989

Analytic theory for the determination of velocity and stability of bubbles in a Hele-Shaw cell. I - Velocity selection. II - Stability

An asymptotic theory is presented for the determination of velocity and linear stability of a steady symmetric bubble in a Hele-Shaw cell for small surface tension. First the bubble velocity relative to the fluid velocity at infinity is determined for small surface tension by means of a transcendentally small correction to the asymptotic series solution. In addition, a linear stability analysis shows that only the solution branch corresponding to the largest possible bubble velocity for given surface tension is stable, while all the others are unstable.

Tanveer, S.↗
NASA NTRS2014

Consensus-Based Formation Control of a Class of Multi-Agent Systems

This paper presents a consensus-based formation control scheme for autonomous multi-agent systems represented by double integrator dynamics. Assuming that the information graph topology consists of an undirected connected graph, a leader-based consensus-type control law is presented and shown to provide asymptotic formation stability when subjected to piecewise constant formation velocity commands. It is also shown that global asymptotic stability is preserved in the presence of (0, infinity)- sector monotonic non-decreasing actuator nonlinearities.

Joshi, Suresh↗
NASA NTRS1994

Vehicle following controller design for autonomous intelligent vehicles

A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

Chien, C. C.↗
NASA NTRS1988

Stability of semi-discrete approximations for hyperbolic initial-boundary-value problems. II - Asymptotic estimates

The stability of semi-discrete approximations for hyperbolic initial-boundary-value problems is considered. Asymptotic estimates of the eigenvalues of the finite-domain problem are given. These estimates are used to examine questions relating the normal mode analysis of the finite-domain problem and the normal mode quarter-plane analysis of the Gustafsson, Kreiss, and Sundstroem theory.

Warming, Robert F.↗
NASA NTRS1982

On stability of premixed flames in stagnation - Point flow

A quantitative description of flame stabilization in stagnation-point flow is proposed. Asymptotic and stability analyses are made for a flame model where the density of the gas is assumed to be constant and the reaction zone is assumed to be narrow and concentrated over the flame front. It is shown that, if blowing is sufficiently strong, the corrugations disappear and a plane flame results. The phenomena cannot be fully described by means of classical linear stability analysis.

Sivashinsky, G. I.↗
NASA NTRS2003

MHD Instability and Turbulence in the Tachocline

The focus of this project was to study the physical processes that govern tachocline dynamics and structure. Specific features explored included stratification, shear, waves, and toroidal and poloidal background fields. In order to address recent theoretical work on anisotropic mixing and dynamics in the tachocline, we were particularly interested in such anisotropic mixing for the specific tachocline processes studied. Transition to turbulence often shapes the largest-scale features that appear spontaneously in a flow during the development of turbulence. The resulting large-scale straining field can control the subsequent dynamics; therefore, anticipation of the large-scale straining field that results for individual realizations of the transition to turbulence can be important for subsequent dynamics, flow morphology, and transport characteristics. As a result, we paid particular attention to the development of turbulence in the stratified and sheared environment of the tachocline. This is complicated by the fact that the linearly stability of sheared MHD flows is non-self-adjoint, implying that normal asymptotic linear stability theory may not be relevant.

Werne, Joe↗
NASA NTRS1992

Derivation and application of hard deadlines for real-time control systems

The computation-time delay in the feedback controller of a real-time control system may cause failure to update the control input during one or more sampling periods. If this delay exceeds a certain limit called a hard deadline, either the necessary conditions for system stability are violated or the system leaves the allowed state-space. In such a case a dynamic failure is said to occur to the system. A method for calculating the hard deadlines in linear time-invariant control systems by considering system stability and the allowed state-space is presented. To derive necessary conditions for (asymptotic) system stability, the state difference equation is modified based on an assumed maximum delay and the probability distribution of delays whose magnitudes are less than, or equal to, the assumed maximum delay. Moreover, the allowed state-space - which is derived from given input and state constraints - is used to calculate the hard deadline as a function of time and the system state. A one-shot delay model in which a single event causes a dynamic failure is also considered. The knowledge of hard deadline is then applied to the design of error recovery in a triple modular redundant (TMR) controller computer.

Shin, Kang G.↗
NASA NTRS1976

Stabilizing feedback control for dynamical systems with bounded uncertainty

The theories of differential games and generalized dynamic systems are used to deduce stabilizing controllers for quasi-linear systems. Attention is given to a class of dynamic systems subject to parameter and input uncertainty whose values range in a given compact set. Using a worst case design philosophy, a feedback control is derived that assures uniform asymptotic (Liapunov) stability of the origin under all admissible uncertainties.

Gutman, S.↗
NASA NTRS2008

Direct Adaptive Control of Systems with Actuator Failures: State of the Art and Continuing Challenges

In this paper, the problem of controlling systems with failures and faults is introduced, and an overview of recent work on direct adaptive control for compensation of uncertain actuator failures is presented. Actuator failures may be characterized by some unknown system inputs being stuck at some unknown (fixed or varying) values at unknown time instants, that cannot be influenced by the control signals. The key task of adaptive compensation is to design the control signals in such a manner that the remaining actuators can automatically and seamlessly take over for the failed ones, and achieve desired stability and asymptotic tracking. A certain degree of redundancy is necessary to accomplish failure compensation. The objective of adaptive control design is to effectively use the available actuation redundancy to handle failures without the knowledge of the failure patterns, parameters, and time of occurrence. This is a challenging problem because failures introduce large uncertainties in the dynamic structure of the system, in addition to parametric uncertainties and unknown disturbances. The paper addresses some theoretical issues in adaptive actuator failure compensation: actuator failure modeling, redundant actuation requirements, plant-model matching, error system dynamics, adaptation laws, and stability, tracking, and performance analysis. Adaptive control designs can be shown to effectively handle uncertain actuator failures without explicit failure detection. Some open technical challenges and research problems in this important research area are discussed.

Tao, Gang↗
NASA NTRS1983

Asymptotic analysis of numerical wave propagation in finite difference equations

An asymptotic technique is developed for analyzing the propagation and dissipation of wave-like solutions to finite difference equations. It is shown that for each fixed complex frequency there are usually several wave solutions with different wavenumbers and the slowly varying amplitude of each satisfies an asymptotic amplitude equation which includes the effects of smoothly varying coefficients in the finite difference equations. The local group velocity appears in this equation as the velocity of convection of the amplitude. Asymptotic boundary conditions coupling the amplitudes of the different wave solutions are also derived. A wavepacket theory is developed which predicts the motion, and interaction at boundaries, of wavepackets, wave-like disturbances of finite length. Comparison with numerical experiments demonstrates the success and limitations of the theory. Finally an asymptotic global stability analysis is developed.

Giles, M.↗
NASA NTRS1988

Implicit methods in CFD

A class of implicit approximate factorization schemes is examined for stability and convergence characteristics. These schemes include Newton's method, factorization, and flux-vector splitting. Examples are used to show that all practical methods suffer from some limited stability or asymptotic convergence restriction. A three-dimensional factored scheme is shown which suffers from unconditional instability which can only be ameliorated by added artificial dissipation. An F3D + or - flux split scheme is described which avoids unconditional instability, but in the end has similar convergence characteristics.

Pulliam, Thomas H.↗
NASA NTRS1989

Stability analysis of multiple-robot control systems

In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.

Wen, John T.↗