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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 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

The significance of error dynamics in model-following for flight control design

The role of the system error dynamics in model-following control systems is discussed, along with the use of handling quality specifications, actuation bandwidth constraints, stability, and closed-loop performance requirements in flight control design. The model-following problem is formulated using both direct state-space and linear, quadratic, optimization techniques. The results are then demonstrated using several examples involving a generic forward-swept-wing vehicle and a conventional flight vehicle with large parameter uncertainty in order to illustrate the trade-off in closed-loop performance and control law complexity.

Schmidt, David K.↗
NASA NTRS1987

Simultaneous structural and control optimization via linear quadratic regulator eigenstructure assignment

A method for simultaneous structural and control design of large flexible space structures (LFSS) to reduce vibration generated by disturbances is presented. Desired natural frequencies and damping ratios for the closed loop system are achieved by using a combination of linear quadratic regulator (LQR) synthesis and numerical optimization techniques. The state and control weighing matrices (Q and R) are expressed in terms of structural parameters such as mass and stiffness. The design parameters are selected by numerical optimization so as to minimize the weight of the structure and to achieve the desired closed-loop eigenvalues. An illustrative example of the design of a two bar truss is presented.

Becus, G. A.↗
NASA NTRS1988

Large-angle slewing maneuvers for flexible spacecraft

A new class of closed-form solutions for finite-time linear-quadratic optimal control problems is presented. The solutions involve Potter's solution for the differential matrix Riccati equation, which assumes the form of a steady-state plus transient term. Illustrative examples are presented which show that the new solutions are more computationally efficient than alternative solutions based on the state transition matrix. As an application of the closed-form solutions, the neighboring extremal path problem is presented for a spacecraft retargeting maneuver where a perturbed plant with off-nominal boundary conditions now follows a neighboring optimal trajectory. The perturbation feedback approach is further applied to three-dimensional slewing maneuvers of large flexible spacecraft. For this problem, the nominal solution is the optimal three-dimensional rigid body slew. The perturbation feedback then limits the deviations from this nominal solution due to the flexible body effects. The use of frequency shaping in both the nominal and perturbation feedback formulations reduces the excitation of high-frequency unmodeled modes. A modified Kalman filter is presented for estimating the plant states.

Chun, Hon M.↗
NASA NTRS1988

Convergence of Galerkin approximations for operator Riccati equations: A nonlinear evolution equation approach

An approximation and convergence theory was developed for Galerkin approximations to infinite dimensional operator Riccati differential equations formulated in the space of Hilbert-Schmidt operators on a separable Hilbert space. The Riccati equation was treated as a nonlinear evolution equation with dynamics described by a nonlinear monotone perturbation of a strongly coercive linear operator. A generic approximation result was proven for quasi-autonomous nonlinear evolution system involving accretive operators which was then used to demonstrate the Hilbert-Schmidt norm convergence of Galerkin approximations to the solution of the Riccati equation. The application of the results was illustrated in the context of a linear quadratic optimal control problem for a one dimensional heat equation.

Rosen, I. G.↗
NASA NTRS1988

Load balancing and closed chain multiple arm control

The authors give the general dynamical equations for several rigid link manipulators rigidly grasping a commonly held rigid object. It is shown that the number of arm-configuration degrees of freedom lost due to imposing the closed-loop kinematic constraints is the same as the number of degrees of freedom gained for controlling the internal forces of the closed-chain system. This number is equal to the dimension of the kernel of the Jacobian operator which transforms contact forces to the net forces acting on the held object, and it is shown that this kernel can be identified with the subspace of controllable internal forces of the closed-chain system. Control of these forces makes it possible to regulate the grasping forces imparted to the held object or to control the load taken by each arm. It is shown that the internal forces can be influenced without affecting the control of the configuration degrees of freedom. Control laws of the feedback linearization type are shown to be useful for controlling the location and attitude of a frame fixed with respect to the held object, while simultaneously controlling the internal forces of the closed-chain system. Force feedback can be used to linearize and control the system even when the held object has unknown mass properties. If saturation effects are ignored, an unconstrained quadratic optimization can be performed to distribute the load optimally among the joint actuators.

Kreutz, Kenneth↗
NASA NTRS1989

Additional software developments wanted for modeling and control of flexible space systems

Existing modeling and control software packages are either inadequate or inefficient for applications to flexible space structures. Some additional software developments are wanted for effective design and evaluation of the control systems. The following are discussed: (1) linear-quadratic optimal regulators as usual can be designed using various modern control design software packages, (2) modal dashpots are very effective output-feedback vibration controllers for flexible structures, not only effective for augmenting a small amount of active damping to a large number of vibration modes (like the so-called low-authority structural controllers), but also effective for quick suppression of large vibrations (like high-authority structural controllers), and (3) the actual performance of any control design needs to be evaluated against a faithful model of the flexible structure to be controlled. The potential of destabilization or serious performance degradation needs to be detected by numerical simulation of the structure with the control loops being closed.

Lin, Jiguan Gene↗
NASA NTRS1989

Substructural controller synthesis

A decentralized design procedure which combines substructural synthesis, model reduction, decentralized controller design, subcontroller synthesis, and controller reduction is proposed for the control design of flexible structures. The structure to be controlled is decomposed into several substructures, which are modeled by component mode synthesis methods. For each substructure, a subcontroller is designed by using the linear quadratic optimal control theory. Then, a controller synthesis scheme called Substructural Controller Synthesis (SCS) is used to assemble the subcontrollers into a system controller, which is to be used to control the whole structure.

Su, Tzu-Jeng↗
NASA NTRS1990

Substructuring decomposition and controller synthesis

A decentralized design procedure is proposed for the control design for flexible structures. The structure to be controlled is decomposed into several substructures by using a natural decomposition called substructuring decomposition. For each substructure, a subcontroller is designed by using the linear quadratic optimal control theory. Then, a controller synthesis scheme called Substructural Controller Synthesis (SCS) is used to assemble the subcontrollers into a system controller, which is to be used to control the whole structure. A plane truss example is used to illustrate the efficacy of the proposed method.

Su, Tzu-Jeng↗
NASA NTRS1990

Active control of sound transmission/radiation from elastic plates by vibration inputs. I - Analysis

Active control of sound radiation from vibrating plates by oscillating forces applied directly to the structure is analytically studied. The model consists of a plane acoustic wave incident on a clamped elastic circular thin plate. Control is achieved by point forces, and quadratic optimization is used to calculate the optimal control gains necessary to minimize a cost function proportional to the radiated acoustic power (the transmitted field). The results show that global attenuation of broadband radiated sound levels for low to mid-range frequencies can be achieved with one or two control forces, irrespective of whether the system is on or off resonance. The efficiency of the control strategy is demonstrated to be related to the nature of the coupling between the plate modes of response and the radiated field.

Fuller, C. R.↗
NASA NTRS1991

A new proof of the Jacobi necessary condition

A new proof is given for Jacobi's no-conjugate-point necessary condition. For a certain class of linear-quadratic optimal control problems it is shown that the existence of a conjugate point in the interior of the extremal implies the existence of control perturbations that lead to a reduction in cost. In a well-known way, through the concept of the accessory minimum problem, this results in a no-conjugate-point condition for general optimal control problems. Important ideas used in this work are adopted from Breakwell and Ho (1965). In contrast to earlier results, the new proof also applies if the coefficient functions of time associated with the accessory minimum problem have any finite number of discontinuities.

Seywald, Hans↗
NASA NTRS1992

Model validation - A connection between robust control and identification

The gap between the models used in control synthesis and those obtained from identification experiments is considered by investigating the connection between uncertain models and data. The model validation problem addressed is: given experimental data and a model with both additive noise and norm-bounded perturbations, is it possible that the model could produce the observed input-output data? This problem is studied for the standard H-infinity/mu framework models. A necessary condition for such a model to describe an experimental datum is obtained. For a large class of models in the robust control framework, this condition is computable as the solution of a quadratic optimization problem.

Smith, Roy S.↗
NASA NTRS1992

Failure behavior identification for a space antenna via neural networks

By using neural networks, a method for the failure behavior identification of a space antenna model is investigated. The proposed method uses three stages. If a fault is suspected by the first stage of fault detection, a diagnostic test is performed on the antenna. The diagnostic test results are used by the second and third stages to identify which fault occurred and to diagnose the extent of the fault, respectively. The first stage uses a multilayer perceptron, the second stage uses a multilayer perceptron and neural networks trained with the quadratic optimization algorithm, a novel training procedure, and the third stage uses backpropagation trained neural networks.

Sartori, Michael A.↗
NASA NTRS1993

Nonrecursive formulations of multibody dynamics and concurrent multiprocessing

Since the late 1980's, research in recursive formulations of multibody dynamics has flourished. Historically, much of this research can be traced to applications of low dimensionality in mechanism and vehicle dynamics. Indeed, there is little doubt that recursive order N methods are the method of choice for this class of systems. This approach has the advantage that a minimal number of coordinates are utilized, parallelism can be induced for certain system topologies, and the method is of order N computational cost for systems of N rigid bodies. Despite the fact that many authors have dismissed redundant coordinate formulations as being of order N(exp 3), and hence less attractive than recursive formulations, we present recent research that demonstrates that at least three distinct classes of redundant, nonrecursive multibody formulations consistently achieve order N computational cost for systems of rigid and/or flexible bodies. These formulations are as follows: (1) the preconditioned range space formulation; (2) penalty methods; and (3) augmented Lagrangian methods for nonlinear multibody dynamics. The first method can be traced to its foundation in equality constrained quadratic optimization, while the last two methods have been studied extensively in the context of coercive variational boundary value problems in computational mechanics. Until recently, however, they have not been investigated in the context of multibody simulation, and present theoretical questions unique to nonlinear dynamics. All of these nonrecursive methods have additional advantages with respect to recursive order N methods: (1) the formalisms retain the highly desirable order N computational cost; (2) the techniques are amenable to concurrent simulation strategies; (3) the approaches do not depend upon system topology to induce concurrency; and (4) the methods can be derived to balance the computational load automatically on concurrent multiprocessors. In addition to the presentation of the fundamental formulations, this paper presents new theoretical results regarding the rate of convergence of order N constraint stabilization schemes associated with the newly introduced class of methods.

Kurdila, Andrew J.↗
NASA NTRS1993

New proof of the Jacobi necessary condition

A new proof is given for Jacobi's necessary condition. It is shown that the existence of a conjugate point in the interior of an extremal implies the existence of control perturbations which lead to a reduction in cost. The present analysis is restricted to linear-quadratic optimal control problems.

Seywald, Hans↗
DOE OSTI2023

Hierarchical Flexibility Offering Strategy for Integrated Hybrid Resources in Real-time Energy Markets

This paper proposes a hierarchical model for determining the energy flexibility offering strategy of integrated hybrid resources (IHRs) in power distribution systems to participate in real-time energy markets. The proposed model utilizes the scalability, fast response time, and uncertainty observation of deep reinforcement learning (DRL) to overcome the scalability issue of operating numerous flexible resources and deliverability of energy flexibility to the real-time markets in the presence of the network constraints. To that end, the power distribution system is divided into multiple IHRs, where different types of flexible loads, energy storage systems, and solar plants with controllable inverters are operated through local IHR controllers, trained by deep deterministic policy gradient (DDPG) algorithm. Active power request and reactive power capacity of IHRs are then transmitted to a central flexibility controller, where a quadratic optimization model ensures the deliverability of the energy flexibility to the real-time energy market by satisfying the distribution network constraints. The proposed model is implemented on the 123-bus test power distribution system, demonstrating the capability of DRL-based hierarchical model for scalable operation of IHRs in order to offer deliverable energy flexibility to the real-time energy market.

Majidi, Majid↗
NASA NTRS1986

Computational methods for optimal linear-quadratic compensators for infinite dimensional discrete-time systems

An abstract approximation theory and computational methods are developed for the determination of optimal linear-quadratic feedback control, observers and compensators for infinite dimensional discrete-time systems. Particular attention is paid to systems whose open-loop dynamics are described by semigroups of operators on Hilbert spaces. The approach taken is based on the finite dimensional approximation of the infinite dimensional operator Riccati equations which characterize the optimal feedback control and observer gains. Theoretical convergence results are presented and discussed. Numerical results for an example involving a heat equation with boundary control are presented and used to demonstrate the feasibility of the method.

Gibson, J. S.↗
NASA NTRS1997

Optimal Approximation of Quadratic Interval Functions

Measurements are never absolutely accurate, as a result, after each measurement, we do not get the exact value of the measured quantity; at best, we get an interval of its possible values, For dynamically changing quantities x, the additional problem is that we cannot measure them continuously; we can only measure them at certain discrete moments of time t(sub 1), t(sub 2), ... If we know that the value x(t(sub j)) at a moment t(sub j) of the last measurement was in the interval [x-(t(sub j)), x + (t(sub j))], and if we know the upper bound D on the rate with which x changes, then, for any given moment of time t, we can conclude that x(t) belongs to the interval [x-(t(sub j)) - D (t - t(sub j)), x + (t(sub j)) + D (t - t(sub j))]. This interval changes linearly with time, an is, therefore, called a linear interval function. When we process these intervals, we get an expression that is quadratic and higher order w.r.t. time t, Such "quadratic" intervals are difficult to process and therefore, it is necessary to approximate them by linear ones. In this paper, we describe an algorithm that gives the optimal approximation of quadratic interval functions by linear ones.

Koshelev, Misha↗