Search NASA⌕ Search

SEARCH · Search NASA

Results for “tracking errors”

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 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Piloting Changes to Changing Aircraft Dynamics: What Do Pilots Need to Know?

An experiment was conducted to quantify the effects of changing dynamics on a subject s ability to track a signal in order to eventually model a pilot adapting to changing aircraft dynamics. The data will be used to identify primary aircraft dynamics variables that influence changes in pilot s response and produce a simplified pilot model that incorporates this relationship. Each run incorporated a different set of second-order aircraft dynamics representing short period transfer function pitch attitude response: damping ratio, frequency, gain, zero location, and time delay. The subject s ability to conduct the tracking task was the greatest source of root mean square error tracking variability. As for the aircraft dynamics, the factors that affected the subjects ability to conduct the tracking were the time delay, frequency, and zero location. In addition to creating a simplified pilot model, the results of the experiment can be utilized in an advisory capacity. A situation awareness/prediction aid based on the pilot behavior and aircraft dynamics may help tailor pilot s inputs more quickly so that PIO or an upset condition can be avoided.

Trujillo, Anna C.↗
NASA NTRS2012

Adaptive Control with Reference Model Modification

This paper presents a modification of the conventional model reference adaptive control (MRAC) architecture in order to improve transient performance of the input and output signals of uncertain systems. A simple modification of the reference model is proposed by feeding back the tracking error signal. It is shown that the proposed approach guarantees tracking of the given reference command and the reference control signal (one that would be designed if the system were known) not only asymptotically but also in transient. Moreover, it prevents generation of high frequency oscillations, which are unavoidable in conventional MRAC systems for large adaptation rates. The provided design guideline makes it possible to track a reference commands of any magnitude from any initial position without re-tuning. The benefits of the method are demonstrated with a simulation example

Stepanyan, Vahram↗
NASA NTRS2010

MRAC Revisited: Guaranteed Performance with Reference Model Modification

This paper presents modification of the conventional model reference adaptive control (MRAC) architecture in order to achieve guaranteed transient performance both in the output and input signals of an uncertain system. The proposed modification is based on the tracking error feedback to the reference model. It is shown that approach guarantees tracking of a given command and the ideal control signal (one that would be designed if the system were known) not only asymptotically but also in transient by a proper selection of the error feedback gain. The method prevents generation of high frequency oscillations that are unavoidable in conventional MRAC systems for large adaptation rates. The provided design guideline makes it possible to track a reference command of any magnitude form any initial position without re-tuning. The benefits of the method are demonstrated in simulations.

Stepanyan, Vahram↗
NASA NTRS1978

Effects of dynamic aeroelasticity on handling qualities and pilot rating

Pilot performance parameters, such as pilot ratings, tracking errors, and pilot comments, were recorded and analyzed for a longitudinal pitch tracking task on a large, flexible aircraft. The tracking task was programmed on a fixed-base simulator with a CRT attitude director display of pitch angle command, pitch angle, and pitch angle error. Parametric variations in the undamped natural frequencies of the two lowest frequency symmetric elastic modes were made to induce varying degrees of rigid body and elastic mode interaction. The results indicate that such mode interaction can drastically affect the handling qualities and pilot ratings of the task.

Swaim, R. L.↗
NASA NTRS1992

Wind-induced dynamics of the deep space network antennas

Accurate spacecraft tracking by the NASA Deep Space Network (DSN) antennas must be assured during changing weather conditions. Wind disturbances are the main source of tracking errors. This paper presents the development of a wind force model, and simulations of wind-induced pointing errors of DSN antennas. The antenna model includes the antenna structure, the elevation and azimuth servos, and the tracking controller. Simulation results show that pointing errors due to wind gusts are of the same order as due to wind static pressure, and that (similarly to the static wind pressure) these errors satisfy the velocity quadratic law. The methodology presented is used for wind disturbance estimation, and for design of an antenna controller with wind disturbance rejection properties.

Gawronski, W.↗
NASA NTRS1991

Towards practical control design using neural computation

The objective is to develop neural network based control design techniques which address the issue of performance/control effort tradeoff. Additionally, the control design needs to address the important issue if achieving adequate performance in the presence of actuator nonlinearities such as position and rate limits. These issues are discussed using the example of aircraft flight control. Given a set of pilot input commands, a feedforward net is trained to control the vehicle within the constraints imposed by the actuators. This is achieved by minimizing an objective function which is the sum of the tracking errors, control input rates and control input deflections. A tradeoff between tracking performance and control smoothness is obtained by varying, adaptively, the weights of the objective function. The neurocontroller performance is evaluated in the presence of actuator dynamics using a simulation of the vehicle. Appropriate selection of the different weights in the objective function resulted in the good tracking of the pilot commands and smooth neurocontrol. An extension of the neurocontroller design approach is proposed to enhance its practicality.

Troudet, Terry↗
NASA NTRS1972

Nonlinear and adaptive estimation techniques in reentry

The development and testing of nonlinear and adaptive estimators for reentry (e.g. space shuttle) navigation and model parameter estimation or identification are reported. Of particular interest is the identifcation of vehicle lift and drag characteristics in real time. Several nonlinear filters were developed and simulated. Adaptive filters for the real time identification of vehicle lift and drag characteristics, and unmodelable acceleration, were also developed and tested by simulation. The simulations feature an uncertain system environment with rather arbitrary model errors, thus providing a definitive test of estimator performance. It was found that nonlinear effects are indeed significant in reentry trajectory estimation and a nonlinear filter is demonstrated which successfully tracks through nonlinearities without degrading the information content of the data. Under the same conditions the usual extended Kalman filter diverges and is useless. The J-adaptive filter is shown to successfully track errors in the modeled vehicle lift and drag characteristics. The same filter concept is also shown to track successfully through rather arbitrary model errors, including lift and drag errors, vehicle mass errors, atmospheric density errors, and wind gust errors.

Jazwinski, A. H.↗
NASA NTRS1990

Atmospheric drag perturbations on the Mars Observer Orbiter

The nominal launch date of the Mars Observer spacecraft is 09 - 16 - 02, with Mars encounter on 08 - 19 - 93 and the mapping orbit established on 12 - 06 - 93. Because this orbit is nearly circular at low altitude (361 km), both gravity and atmospheric drag will dominate the orbital evolution and are also the major error sources. This paper provides: (1) a summary of atmospheric density and errors for the Mars Observer orbit and time frame, (2) an assessment of spacecraft-position errors using current density estimates, and (3) an estimate of atmospheric density modeling improvement directly from the Doppler data acquired during flight operations. With an improved gravity field model, reconstructed spacecraft-position errors are at the level of 0.5 km (1sigma). However, when predicting the spacecraft's position over 14 days, the density error (at the 90-percent confidence level) dominates, yielding a down-track error of almost 70 km. By modeling the mean atmospheric density, this error can be reduced by at least a factor of two.

Esposito, P. B.↗
NASA NTRSDate not supplied

Evaluating GXS Impact in the Context of International Coordination

The proposed NOAA/NASA Geostationary eXtended Observations (GeoXO) program plans to include a hyperspectral infrared (IR) sounder on its central satellite. Expected to launch in the mid-2030s, the GeoXO Sounder (GXS) will join international counterparts in a geostationary orbit. Ahead of launch, the NASA Global Modeling and Assimilation Office (GMAO) assessed the potential effectiveness of GXS both as a single GEO IR sounder and as part of a global ring of such instruments, including those already being built by international agencies. Using an observing system simulation experiment (OSSE) framework, GXS was assessed from a global numerical weather prediction (NWP) perspective. The ability of GXS, both alone and as part of a global ring of GEO sounders, to improve weather prediction of thermodynamic variables was evaluated globally and regionally. Compared to a control, GXS dominated regional analysis and forecast improvements, and contributed significantly to global increases in forecast skill. However, more sustained global improvements on the order of 4 days rely on international partnerships. Using the FSOI metric over CONUS, the GXS observations provide the strongest radiance impact on the moist energy error norm reduction. Additionally, GXS shows the capability to improve hurricane forecast track errors, resulting in improved forecast warnings. Overall, the persistent atmospheric profile information from GXS over much of the western hemisphere provide an opportunity to improve the representation of weather systems and their forecasts.

Erica McGrath-Spangler↗
NASA NTRSDate not supplied

Evaluating the Impact of Geostationary Sounders in the Context of International Coordination

The proposed NOAA/NASA Geostationary eXtended Observations (GeoXO) program plans to include a hyperspectral infrared (IR) sounder (GXS) on its central satellite, joining international counterparts. Ahead of launch, the NASA Global Modeling and Assimilation Office (GMAO) assessed the potential effectiveness of GXS both as a lone sounder in a GEO orbit and as part of a global ring of such instruments. Using an observing system simulation experiment (OSSE) framework from a global numerical weather prediction (NWP) perspective, the ability of GXS and the global ring to improve weather prediction of thermodynamic variables was assessed both globally and regionally. GXS dominated regional analysis and forecast improvements and contributed significantly to global increases in forecast skill. However, more sustained global improvements on the order of 4 days rely on international partnerships. Over CONUS, the FSOI metric showed the GXS observations provide the strongest radiance impact on the moist energy error norm reduction. Additionally, GXS shows the capability to improve hurricane forecast track errors, resulting in improved forecast warnings. Overall, the persistent atmospheric profile information from GXS over much of the western hemisphere provide an opportunity to improve the representation of weather systems and their forecasts.

Erica L. McGrath-Spangler↗
NASA NTRSDate not supplied

Evaluating the Impact of Geostationary Sounders in the Context of International Coordination

The proposed NOAA/NASA Geostationary eXtended Observations (GeoXO) program plans to include a hyperspectral infrared (IR) sounder (GXS) on its central satellite, joining international counterparts. Ahead of launch, the NASA Global Modeling and Assimilation Office (GMAO) assessed the potential effectiveness of GXS both as a lone sounder in a GEO orbit and as part of a global ring of such instruments. Using an observing system simulation experiment (OSSE) framework from a global numerical weather prediction (NWP) perspective, the ability of GXS and the global ring to improve weather prediction of thermodynamic variables was assessed both globally and regionally. GXS dominated regional analysis and forecast improvements and contributed significantly to global increases in forecast skill. However, more sustained global improvements on the order of 4 days rely on international partnerships. Over CONUS, the FSOI metric showed the GXS observations provide the strongest radiance impact on the moist energy error norm reduction. Additionally, GXS shows the capability to improve hurricane forecast track errors, resulting in improved forecast warnings. Overall, the persistent atmospheric profile information from GXS over much of the western hemisphere provide an opportunity to improve the representation of weather systems and their forecasts.

Erica McGrath-Spangler↗
NASA NTRSDate not supplied

Evaluating GXS Impact in the Context of International Coordination

The proposed NOAA/NASA Geostationary eXtended Observations (GeoXO) program plans to include a hyperspectral infrared (IR) sounder on its central satellite. Expected to launch in the mid-2030s, the GeoXO Sounder (GXS) will join international counterparts in a geostationary orbit. Ahead of launch, the NASA Global Modeling and Assimilation Office (GMAO) assessed the potential effectiveness of GXS both as a single GEO IR sounder and as part of a global ring of such instruments, including those already being built by international agencies. Using an observing system simulation experiment (OSSE) framework, GXS was assessed from a global numerical weather prediction (NWP) perspective. The ability of GXS, both alone and as part of a global ring of GEO sounders, to improve weather prediction of thermodynamic variables was evaluated globally and regionally. Compared to a control, GXS dominated regional analysis and forecast improvements, and contributed significantly to global increases in forecast skill. However, more sustained global improvements on the order of 4 days rely on international partnerships. Using the FSOI metric over CONUS, the GXS observations provide the strongest radiance impact on the moist energy error norm reduction. Additionally, GXS shows the capability to improve hurricane forecast track errors, resulting in improved forecast warnings. Overall, the persistent atmospheric profile information from GXS over much of the western hemisphere provide an opportunity to improve the representation of weather systems and their forecasts.

Erica McGrath-Spangler↗
NASA NTRS1986

Design of multivariable controllers for robot manipulators

The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.

Seraji, H.↗
NASA NTRS1987

An approach to multivariable control of manipulators

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

Seraji, H.↗
NASA NTRS1979

Precision controllability of the F-15 airplane

A flying qualities evaluation conducted on a preproduction F-15 airplane permitted an assessment to be made of its precision controllability in the high subsonic and low transonic flight regime over the allowable angle of attack range. Precision controllability, or gunsight tracking, studies were conducted in windup turn maneuvers with the gunsight in the caged pipper mode and depressed 70 mils. This evaluation showed the F-15 airplane to experience severe buffet and mild-to-moderate wing rock at the higher angles of attack. It showed the F-15 airplane radial tracking precision to vary from approximately 6 to 20 mils over the load factor range tested. Tracking in the presence of wing rock essentially doubled the radial tracking error generated at the lower angles of attack. The stability augmentation system affected the tracking precision of the F-15 airplane more than it did that of previous aircraft studied.

Sisk, T. R.↗
NASA NTRS1985

Multivariable control of VTOL aircraft for shipboard landing

The problem of the automatic landing of VTOL aircraft on small ships is considered. Linear quadratic optimal control theory is used to design a VTOL ship motion tracking controller. Optimal root-loci and step responses are obtained to study the dynamics of the closed-loop system. Standard deviations of the ship motion tracking errors, and of the VTOL control amplitudes are computed, illustrating the tradeoff between accurate tracking, and limited control authority. Multivariable robustness margins are also obtained. The tracking of the vertical motion presents the difficulty of requiring large variations of the VTOL total thrust, a control which is limited both in amplitude and in bandwidth. Lateral controls are less restricted, but the motions are strongly coupled, with some adverse couplings in the ship motions, and in the aircraft dynamics. The advantage of the LQ control theory is demonstrated however, by its ability to account for these couplings in a robust manner, and, when possible, to use them to limit the control amplitudes.

Bodson, M.↗