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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 NTRS1987

Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗
NASA NTRS1988

New nonlinear control algorithms for multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Tarn, T. J.↗
NASA NTRS1989

A new adaptive control approach for aerospace vehicles with parameter uncertainties

A new stochastic adaptive control structure is developed for the problem of combined parameter estimation and control of aerospace vehicles with changing parameters. Parameter uncertainties are modeled as first-order Gauss-Markov processes, and are introduced to the system dynamics through a small parameter. It is assumed that an accurate inertial measurement unit gives perfect measurements of the state variables. Since the stochastic system is assumed to be Gauss-Markov, the density function of the parameters given these measurements is conditionally Gaussian. Based on this conditionally Gaussian density, the problem of minimizing a quadratic cost over an infinite time horizon can be set up within the framework of stochastic optimal control theory. The optimal feedback control law is derived from a straightforward expansion of the Hamilton-Jacobi-Bellman equation, based on the LQG solution. The resulting nonlinear controller is applied to the pitch axis control of a space platform with uncertain moments of inertia and is shown to produce marked improvement over a fixed controller.

Hahn, Yungsun↗
NASA NTRS1989

Algorithms for computing the multivariable stability margin

Stability margin for multiloop flight control systems has become a critical issue, especially in highly maneuverable aircraft designs where there are inherent strong cross-couplings between the various feedback control loops. To cope with this issue, we have developed computer algorithms based on non-differentiable optimization theory. These algorithms have been developed for computing the Multivariable Stability Margin (MSM). The MSM of a dynamical system is the size of the smallest structured perturbation in component dynamics that will destabilize the system. These algorithms have been coded and appear to be reliable. As illustrated by examples, they provide the basis for evaluating the robustness and performance of flight control systems.

Tekawy, Jonathan A.↗
NASA NTRS1993

A model for rotorcraft flying qualities studies

This paper outlines the development of a mathematical model that is expected to be useful for rotorcraft flying qualities research. A computer model is presented that can be applied to a range of different rotorcraft configurations. The algorithm computes vehicle trim and a linear state-space model of the aircraft. The trim algorithm uses non linear optimization theory to solve the nonlinear algebraic trim equations. The linear aircraft equations consist of an airframe model and a flight control system dynamic model. The airframe model includes coupled rotor and fuselage rigid body dynamics and aerodynamics. The aerodynamic model for the rotors utilizes blade element theory and a three state dynamic inflow model. Aerodynamics of the fuselage and fuselage empennages are included. The linear state-space description for the flight control system is developed using standard block diagram data.

Mittal, Manoj↗
NASA NTRS1994

CORSS: Cylinder Optimization of Rings, Skin, and Stringers

Launch vehicle designs typically make extensive use of cylindrical skin stringer construction. Structural analysis methods are well developed for preliminary design of this type of construction. This report describes an automated, iterative method to obtain a minimum weight preliminary design. Structural optimization has been researched extensively, and various programs have been written for this purpose. Their complexity and ease of use depends on their generality, the failure modes considered, the methodology used, and the rigor of the analysis performed. This computer program employs closed-form solutions from a variety of well-known structural analysis references and joins them with a commercially available numerical optimizer called the 'Design Optimization Tool' (DOT). Any ring and stringer stiffened shell structure of isotropic materials that has beam type loading can be analyzed. Plasticity effects are not included. It performs a more limited analysis than programs such as PANDA, but it provides an easy and useful preliminary design tool for a large class of structures. This report briefly describes the optimization theory, outlines the development and use of the program, and describes the analysis techniques that are used. Examples of program input and output, as well as the listing of the analysis routines, are included.

Finckenor, J.↗
NASA NTRS1995

Reduction, analysis, and properties of electric current systems in solar active regions

The specific attraction and, in large part, the significance of solar magnetograms lie in the fact that they give the most important data on the electric currents and the nonpotentiality of active regions. Using the vector magnetograms from the Marshall Space Flight Center (MSFC), we employ a unique technique in the area of data analysis for resolving the 180 deg ambiguity in order to calculate the spatial structure of the vertical electric current density. The 180 deg ambiguity is resolved by applying concepts from the nonlinear multivariable optimization theory. The technique is shown to be of particular importance in very nonpotential active regions. The characterization of the vertical electric current density for a set of vector magnetograms using this method then gives the spatial scale, locations, and magnitude of these current systems. The method, which employs an intermediate parametric function which covers the magnetogram and which defines the local `preferred' direction, minimizes a specific functional of the observed transverse magnetic field. The specific functional that is successful is the integral of the square of the vertical current density. We find that the vertical electric current densities have common characteristics for the extended bipolar (beta) (gamma) (delta)-regions studied. The largest current systems have j(sub z)'s which maximizes around 30 mA/sq m and have a linear decreasing distribution to a diameter of 30 Mn.

Gary, G. Allen↗
NASA NTRS1995

Reduction, Analysis, and Properties of Electric Current Systems in Solar Active Regions

The specific attraction and, in large part, the significance of solar vector magnetograms lie in the fact that they give the most important data on the electric currents and the nonpotentiality of active regions. Using the vector magnetograms from the Marshall Space Flight Center (MSFC), we employ a unique technique in the area of data analysis for resolving the 180 degree ambiguity in order to calculate the spatial structure of the vertical electric current density. The 180 degree ambiguity is resolved by applying concepts from the nonlinear multivariable optimization theory. The technique is shown to be of particular importance in very nonpotential active regions. The characterization of the vertical electric current density for a set of vector magnetograms using this method then gives the spatial scale, locations, and magnitude of these current systems. The method, which employs an intermediate parametric function which covers the magnetogram and which defines the local "preferred" direction, minimizes a specific functional of the observed transverse magnetic field. The specific functional that is successful is the integral of the square of the vertical current density. We find that the vertical electric current densities have common characteristics for the extended bipolar beta gamma delta-regions studied. The largest current systems have j(sub z)'s which maximizes around 30 mA per square meter and have a linear decreasing distribution to a diameter of 30 Mm.

Gary, G. Allen↗
NASA NTRS2014

Application of Sequential Quadratic Programming to Minimize Smart Active Flap Rotor Hub Loads

In an analytical study, SMART active flap rotor hub loads have been minimized using nonlinear programming constrained optimization methodology. The recently developed NLPQLP system (Schittkowski, 2010) that employs Sequential Quadratic Programming (SQP) as its core algorithm was embedded into a driver code (NLP10x10) specifically designed to minimize active flap rotor hub loads (Leyland, 2014). Three types of practical constraints on the flap deflections have been considered. To validate the current application, two other optimization methods have been used: i) the standard, linear unconstrained method, and ii) the nonlinear Generalized Reduced Gradient (GRG) method with constraints. The new software code NLP10x10 has been systematically checked out. It has been verified that NLP10x10 is functioning as desired. The following are briefly covered in this paper: relevant optimization theory; implementation of the capability of minimizing a metric of all, or a subset, of the hub loads as well as the capability of using all, or a subset, of the flap harmonics; and finally, solutions for the SMART rotor. The eventual goal is to implement NLP10x10 in a real-time wind tunnel environment.

HUB LOADS↗
NASA NTRS1991

Maximized gust loads for a nonlinear airplane using matched filter theory and constrained optimization

This paper describes and illustrates two matched-filter-theory based schemes for obtaining maximized and time-correlated gust-loads for a nonlinear airplane. The first scheme is computationally fast because it uses a simple one-dimensional search procedure to obtain its answers. The second scheme is computationally slow because it uses a more complex multidimensional search procedure to obtain its answers, but it consistently provides slightly higher maximum loads than the first scheme. Both schemes are illustrated with numerical examples involving a nonlinear control system.

Scott, Robert C.↗
NASA NTRS1962

Application of Statistical Filter Theory to the Optimal Estimation of Position and Velocity on Board a Circumlunar Vehicle

Statistical filter theory is employed to develop a method for determining the best possible estimate of the position and velocity of a space vehicle in the midcourse phase of flight. Results of a computer simulation are given to illustrate the performance attainable. An on-board system is visualized in which the source of information is an arbitrary sequence of observations of space angles, corrupted by measurement errors. The scheme is in effect a dynamical time-varying filter, implemented by a digital computer, which processes the incoming data to compute an up-to-date optimal estimate of position and velocity.

Smith, Gerald L.↗
NASA NTRS1962

Application of Statistical Filter Theory to the Optimal Estimation of Position and Velocity on Board a Circumlunar Vehicle

Concepts from statistical filter theory are applied to the problem of in-flight determination of the position and velocity of a space vehicle for the purposes of midcourse guidance. The source of information is assumed to be an arbitrary sequence of measurements of any desired set of "observables" (e.g., space angles), the measurements being corrupted by additive errors so that the position and velocity are never known perfectly. A state transition approach is employed which leads naturally to a computational scheme that is readily implemented by a digital computer. The scheme can be regarded as a dynamical time-varying filter which weights the incoming observations in an optimal sense for use in producing an up-to-date optimal estimate of position and velocity. The advantages of the scheme are (1) it provides the best possible estimate (minimum error) based upon ensemble statistics of injection conditions and measurement errors; (2) it is extremely versatile, not requiring adherence to a predetermined observation schedule or reference trajectory; and (3) the computations are sufficiently simple to be practical in an on-board computer. A digital computer simulation of the proposed system is employed to demonstrate the feasibility of an all on-board system and to illustrate the performance attainable in a hypothetical physical situation.

SPACE VEHICLE↗
NASA NTRS1980

Realization theory and quadratic optimal controllers for systems defined over Banach and Frechet algebras

It is noted that recent work by Kamen (1979) on the stability of half-plane digital filters shows that the problem of the existence of a feedback law also arises for other Banach algebras in applications. This situation calls for a realization theory and stabilizability criteria for systems defined over Banach for Frechet algebra A. Such a theory is developed here, with special emphasis placed on the construction of finitely generated realizations, the existence of coprime factorizations for T(s) defined over A, and the solvability of the quadratic optimal control problem and the associated algebraic Riccati equation over A.

Byrnes, C. I.↗
NASA NTRS1976

A linearized theory method of constrained optimization for supersonic cruise wing design

A linearized theory wing design and optimization procedure which allows physical realism and practical considerations to be imposed as constraints on the optimum (least drag due to lift) solution is discussed and examples of application are presented. In addition to the usual constraints on lift and pitching moment, constraints are imposed on wing surface ordinates and wing upper surface pressure levels and gradients. The design procedure also provides the capability of including directly in the optimization process the effects of other aircraft components such as a fuselage, canards, and nacelles.

Miller, D. S.↗
NASA NTRS2002

Primer Vector Optimization: Survey of Theory, New Analysis and Applications

In this paper, a summary of primer vector theory is presented. The applicability of primer vector theory is examined in an effort to understand when and why the theory can fail. For example, since the Calculus of Variations is based on "small" variations, singularities in the linearized (variational) equations of motion along the arcs must be taken into account. These singularities are a recurring problem in analyse that employ small variations. Two examples, the initialization of an orbit and a line of apsides rotation, are presented. Recommendations, future work, and the possible addition of other optimization techniques are also discussed.

Guzman, J. J.↗
NASA NTRS1987

Investigation, development, and application of optimal output feedback theory. Volume 3: The relationship between dynamic compensators and observers and Kalman filters

Relationships between observers, Kalman Filters and dynamic compensators using feedforward control theory are investigated. In particular, the relationship, if any, between the dynamic compensator state and linear functions of a discrete plane state are investigated. It is shown that, in steady state, a dynamic compensator driven by the plant output can be expressed as the sum of two terms. The first term is a linear combination of the plant state. The second term depends on plant and measurement noise, and the plant control. Thus, the state of the dynamic compensator can be expressed as an estimator of the first term with additive error given by the second term. Conditions under which a dynamic compensator is a Kalman filter are presented, and reduced-order optimal estimaters are investigated.

Broussard, John R.↗