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Singular perturbation methods are used to derive nonlinear feedback control laws for aircraft minimum time long range interception under the assumption of complete time scale separation. The resulting algorithms are in feedback form and can be implemented on a microcomputer for on-line trajectory optimization.
In singular perturbation problems, control of zone size variation can affect the effort required to obtain accurate, numerical solutions of finite difference equations. The mesh is generated by the solution of potential equations. Numerical results for a singular perturbation problem in two dimensions are presented. The mesh was used in calculations of resistive magnetohydrodynamic flow in two dimensions.
Singular perturbation techniques are studied for dealing with singular arc problems by analyzing a relatively low-order but otherwise general system. This system encompasses many flight mechanic problems including Goddard's problem and a version of the minimum time-to-climb problem. Boundary layer solutions are constructed which are stable and reach the outer solution in a finite time. A uniformly valid composite solution is then formed from the reduced and boundary layer solutions. The value of the approximate solution is that it is relatively easy to obtain and does not involve singular arcs. To illustrate the utility of the results, the technique is used to obtain an approximate solution of a simplified version of the aircraft minimum time-to-climb problem.
This paper proposes a systematic approach for identifying the perturbation parameter in singular perturbation analysis of aircraft optimal guidance, and in particular considers a family of problems related to aircraft energy climbs. The approach, which is based on a nondimensionalization of the equations of motion, is used to evaluatae the appropriateness of forced singular perturbation formulations used in the past for transport and fighter aircraft, and to assess the applicability of energy state approximations and singular perturbation analysis for airbreathing transatmospheric vehicles with hypersonic cruise and orbital capabilities.
A third order, nonlinear, singularly perturbed optimal control problem is considered under assumptions which assure that the full problem is singular and the reduced problem is nonsingular. The separation between the singular arc of the full problem and the optimal control law of the reduced one, both of which are hypersurfaces in state space, is of the same order as the small parameter of the problem. Boundary layer solutions are constructed which are stable and reach the outer solution in a finite time. A uniformly valid composite solution is then formed from the reduced and boundary layer solutions. The value of the approximate solution is that it is relatively easy to obtain and does not involve singular arcs. To illustrate the utility of the results, the technique is used to obtain an approximate solution of a simplified version of the aircraft minimum time-to-climb problem. A numerical example is included.
The Computational Singular Perturbation CSP methods is employed (1) in the modeling of a homogeneous isothermal reacting system and (2) in the numerical simulation of the chemical reactions in a hypersonic flowfield. Reduced and simplified mechanisms are constructed. The solutions obtained on the basis of these approximate mechanisms are shown to be in very good agreement with the exact solution based on the full mechanism. Physically meaningful approximations are derived. It is demonstrated that the deduction of these approximations from CSP is independent of the complexity of the problem and requires no intuition or experience in chemical kinetics.
Singular perturbation analysis is used to derive an outer layer feedback control law for a high alpha fighter aircraft to perform the half-loop maneuver. Pitch rate and angle of attack are treated as fast variables in the derivation. Bang-bang controls are derived to transfer the aircraft state from trim to the outer layer and from the outer layer to specified final half-loop values. The pitch rate is treated as a varibale faster than the angle of attack in the transfer of the state to and from the outer layer. A simulation of the derived control law is conducted at Mach 0.6 and 15,000 feet altitude. The half-loop was performed in 13.12 seconds. It is compared with a NASA pilot simulated half-loop maneuver which took 22.42 seconds for the same initial conditions.
After considering a singularly perturbed discrete control system, a singular perturbation approach is used to obtain outer and correction subsystems. A time scale approach is then applied via block diagonalization transformations to decouple the system into slow and fast subsystems. To a zeroth-order approximation, the singular perturbation and time-scale approaches are found to yield equivalent results.
This paper considers the problem of time-domain assessment of the Phase Margin (PM) of a Single Input Single Output (SISO) Linear Time-Invariant (LTI) system using a singular perturbation approach, where a SISO LTI fast loop system, whose phase lag increases monotonically with frequency, is introduced into the loop as a singular perturbation with a singular perturbation (time-scale separation) parameter Epsilon. First, a bijective relationship between the Singular Perturbation Margin (SPM) max and the PM of the nominal (slow) system is established with an approximation error on the order of Epsilon(exp 2). In proving this result, relationships between the singular perturbation parameter Epsilon, PM of the perturbed system, PM and SPM of the nominal system, and the (monotonically increasing) phase of the fast system are also revealed. These results make it possible to assess the PM of the nominal system in the time-domain for SISO LTI systems using the SPM with a standardized testing system called "PM-gauge," as demonstrated by examples. PM is a widely used stability margin for LTI control system design and certification. Unfortunately, it is not applicable to Linear Time-Varying (LTV) and Nonlinear Time-Varying (NLTV) systems. The approach developed here can be used to establish a theoretical as well as practical metric of stability margin for LTV and NLTV systems using a standardized SPM that is backward compatible with PM.
In this paper, Goddard's problem of maximizing the final altitude of a sounding rocket (a singular problem of optimal control) is analyzed using singular perturbation methods. The problem is first cast in singular perturbation form and then solved to zero order by adding boundary-layer corrections to the reduced solution. For a quadratic drag law, a closed-form solution is obtained, although consideration of a numerical example indicates that this solution is not useful for practical sounding rockets. However, use of state variable transformations allows a very accurate numerical approximation to be constructed. It is concluded that application of singular perturbation methods to the well-known sounding rocket problem indicates that these methods may have utility in dealing with singular problems of optimal control.
The solution of the singular perturbation problem by a multigrid algorithm is considered. Theoretical and experimental results for a number of different discretizations are presented. The theoretical and observed rates agree with the results developed in an earlier work of Kamowitz and Parter. In addition, the rate of convergence of the algorithm when the coarse grid operator is the natural finite difference analog of the fine grid operator is presented. This is in contrast to the case in the previous work where the Galerkin choice (I sup H sub h L sub h,I sup h sub H) was used for the coarse grid operators.
A hierarchical real time algorithm for optimal three dimensional control of aircraft is described. Systematic methods are developed for real time computation of nonlinear feedback controls by means of singular perturbation theory. The results are applied to a six state, three control variable, point mass model of an F-4 aircraft. Nonlinear feedback laws are presented for computing the optimal control of throttle, bank angle, and angle of attack. Real Time capability is assessed on a TI 9900 microcomputer. The breakdown of the singular perturbation approximation near the terminal point is examined Continuation methods are examined to obtain exact optimal trajectories starting from the singular perturbation solutions.
Stability properties of zero dynamics are among the crucial input-output properties of both linear and nonlinear systems. Unstable, or 'nonminimum phase', zero dynamics are a major obstacle to input-output linearization and high-gain designs. An analysis of the effects of regular perturbations in system equations on zero dynamics shows that whenever a perturbation decreases the system's relative degree, it manifests itself as a singular perturbation of zero dynamics. Conditions are given under which the zero dynamics evolve in two timescales characteristic of a standard singular perturbation form that allows a separate analysis of slow and fast parts of the zero dynamics.
The application of singular perturbation theory to problems in systems and control is addressed. The types of systems considered include linear and nonlinear, discrete and continuous, and stochastic and deterministic. Both ordinary and partial differential equations are covered.
A class of nonlinear, zero-sum differential games, exhibiting time-scale separation properties, can be analyzed by singular-perturbation techniques. The merits of such an analysis, leading to an approximate game solution, as well as the 'well-posedness' of the formulation, are discussed. This approach is shown to be attractive for investigating pursuit-evasion problems; the original multidimensional differential game is decomposed to a 'simple pursuit' (free-stream) game and two independent (boundary-layer) optimal-control problems. Using multiple time-scale boundary-layer models results in a pair of uniformly valid zero-order composite feedback strategies. The dependence of suboptimal strategies on relative geometry and own-state measurements is demonstrated by a three dimensional, constant-speed example. For game analysis with realistic vehicle dynamics, the technique of forced singular perturbations and a variable modeling approach is proposed. Accuracy of the analysis is evaluated by comparison with the numerical solution of a time-optimal, variable-speed 'game of two cars' in the horizontal plane.
The problem of real time guidance and optimal control of Aeroassisted Orbit Transfer Vehicles (AOTV's) was addressed using singular perturbation theory as an underlying method of analysis. Trajectories were optimized with the objective of minimum energy expenditure in the atmospheric phase of the maneuver. Two major problem areas were addressed: optimal reentry, and synergetic plane change with aeroglide. For the reentry problem, several reduced order models were analyzed with the objective of optimal changes in heading with minimum energy loss. It was demonstrated that a further model order reduction to a single state model is possible through the application of singular perturbation theory. The optimal solution for the reduced problem defines an optimal altitude profile dependent on the current energy level of the vehicle. A separate boundary layer analysis is used to account for altitude and flight path angle dynamics, and to obtain lift and bank angle control solutions. By considering alternative approximations to solve the boundary layer problem, three guidance laws were derived, each having an analytic feedback form. The guidance laws were evaluated using a Maneuvering Reentry Research Vehicle model and all three laws were found to be near optimal. For the problem of synergetic plane change with aeroglide, a difficult terminal boundary layer control problem arises which to date is found to be analytically intractable. Thus a predictive/corrective solution was developed to satisfy the terminal constraints on altitude and flight path angle. A composite guidance solution was obtained by combining the optimal reentry solution with the predictive/corrective guidance method. Numerical comparisons with the corresponding optimal trajectory solutions show that the resulting performance is very close to optimal. An attempt was made to obtain numerically optimized trajectories for the case where heating rate is constrained. A first order state variable inequality constraint was imposed on the full order AOTV point mass equations of motion, using a simple aerodynamic heating rate model.
An approximate analytic solution is developed for the problem of maximizing the range of an aircraft for a fixed end state. The problem is formulated as a singular perturbation and solved by matched inner and outer asymptotic expansions and the minimum principle of Pontryagin. Cruise in the stratosphere, and on transition to and from cruise at constant Mach number are discussed. The state vector includes altitude, flight path angle, and mass. Specific fuel consumption becomes a linear function of power approximating that of the cruise values. Cruise represents the outer solution; altitude and flight path angle are constants, and only mass changes. Transitions between cruise and the specified initial and final conditions correspond to the inner solutions. The mass is constant and altitude and velocity vary. A solution is developed which is valid for cruise but which is not for the initial and final conditions. Transforming of the independent variable near the initial and final conditions result in solutions which are valid for the two inner solutions but not for cruise. The inner solutions can not be obtained without simplifying the state equations. The singular perturbation approach overcomes this difficulty. A quadratic approximation of the state equations is made. The resulting problem is solved analytically, and the two inner solutions are matched to the outer solution.
Initial value problem for singularly perturbed differential-difference equation which is scalar, linear and has constant coefficients