An adaptive Cartesian control scheme for manipulators
NASA Technical Reports Server (NTRS)
Seraji, H.
1987-01-01
A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.
An adaptive control scheme for coordinated multimanipulator systems
Jonghann Jean; Lichen Fu . Dept. of Electrical Engineering)
1993-04-01
The problem of adaptive coordinated control of multiple robot arms transporting an object is addressed. A stable adaptive control scheme for both trajectory tracking and internal force control is presented. Detailed analyses on tracking properties of the object position, velocity and the internal forces exerted on the object are given. It is shown that this control scheme can achieve satisfactory tracking performance without using the measurement of contact forces and their derivatives. It can be shown that this scheme can be realized by decentralized implementation to reduce the computational burden. Moreover, some efficient adaptive control strategies can be incorporated to reduce the computational complexity.
A discrete-time adaptive control scheme for robot manipulators
NASA Technical Reports Server (NTRS)
Tarokh, M.
1990-01-01
A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.
An adaptive identification and control scheme for large space structures
NASA Technical Reports Server (NTRS)
Carroll, J. V.
1988-01-01
A unified identification and control scheme capable of achieving space at form performance objectives under nominal or failure conditions is described. Preliminary results are also presented, showing that the methodology offers much promise for effective robust control of large space structures. The control method is a multivariable, adaptive, output predictive controller called Model Predictive Control (MPC). MPC uses a state space model and input reference trajectories of set or tracking points to adaptively generate optimum commands. For a fixed model, MPC processes commands with great efficiency, and is also highly robust. A key feature of MPC is its ability to control either nonminimum phase or open loop unstable systems. As an output controller, MPC does not explicitly require full state feedback, as do most multivariable (e.g., Linear Quadratic) methods. Its features are very useful in LSS operations, as they allow non-collocated actuators and sensors. The identification scheme is based on canonical variate analysis (CVA) of input and output data. The CVA technique is particularly suited for the measurement and identification of structural dynamic processes - that is, unsteady transient or dynamically interacting processes such as between aerodynamics and structural deformation - from short, noisy data. CVA is structured so that the identification can be done in real or near real time, using computationally stable algorithms. Modeling LSS dynamics in 1-g laboratories has always been a major impediment not only to understanding their behavior in orbit, but also to controlling it. In cases where the theoretical model is not confirmed, current methods provide few clues concerning additional dynamical relationships that are not included in the theoretical models. CVA needs no a priori model data, or structure; all statistically significant dynamical states are determined using natural, entropy-based methods. Heretofore, a major limitation in applying adaptive
A practical scheme for adaptive aircraft flight control systems
NASA Technical Reports Server (NTRS)
Athans, M.; Willner, D.
1974-01-01
A flight control system design is presented, that can be implemented by analog hardware, to be used to control an aircraft with uncertain parameters. The design is based upon the use of modern control theory. The ideas are illustrated by considering control of STOL longitudinal dynamics.
Adaptive Numerical Dissipative Control in High Order Schemes for Multi-D Non-Ideal MHD
NASA Technical Reports Server (NTRS)
Yee, H. C.; Sjoegreen, B.
2004-01-01
The goal is to extend our adaptive numerical dissipation control in high order filter schemes and our new divergence-free methods for ideal MHD to non-ideal MHD that include viscosity and resistivity. The key idea consists of automatic detection of different flow features as distinct sensors to signal the appropriate type and amount of numerical dissipation/filter where needed and leave the rest of the region free of numerical dissipation contamination. These scheme-independent detectors are capable of distinguishing shocks/shears, flame sheets, turbulent fluctuations and spurious high-frequency oscillations. The detection algorithm is based on an artificial compression method (ACM) (for shocks/shears), and redundant multi-resolution wavelets (WAV) (for the above types of flow feature). These filter approaches also provide a natural and efficient way for the minimization of Div(B) numerical error. The filter scheme consists of spatially sixth order or higher non-dissipative spatial difference operators as the base scheme for the inviscid flux derivatives. If necessary, a small amount of high order linear dissipation is used to remove spurious high frequency oscillations. For example, an eighth-order centered linear dissipation (AD8) might be included in conjunction with a spatially sixth-order base scheme. The inviscid difference operator is applied twice for the viscous flux derivatives. After the completion of a full time step of the base scheme step, the solution is adaptively filtered by the product of a 'flow detector' and the 'nonlinear dissipative portion' of a high-resolution shock-capturing scheme. In addition, the scheme independent wavelet flow detector can be used in conjunction with spatially compact, spectral or spectral element type of base schemes. The ACM and wavelet filter schemes using the dissipative portion of a second-order shock-capturing scheme with sixth-order spatial central base scheme for both the inviscid and viscous MHD flux
An Adaptive Loss-Aware Flow Control Scheme for Delay-Sensitive Applications in OBS Networks
NASA Astrophysics Data System (ADS)
Jeong, Hongkyu; Choi, Jungyul; Mo, Jeonghoon; Kang, Minho
Optical Burst Switching (OBS) is one of the most promising switching technologies for next generation optical networks. As delay-sensitive applications such as Voice-over-IP (VoIP) have recently become popular, OBS networks should guarantee stringent Quality of Service (QoS) requirements for such applications. Thus, this paper proposes an Adaptive Loss-aware Flow Control (ALFC) scheme, which adaptively decides on the burst offset time based on loss-rate information delivered from core nodes for assigning a high priority to delay-sensitive application traffic. The proposed ALFC scheme also controls the upper-bounds of the factors inducing delay and jitter for guaranteeing the delay and jitter requirements of delay-sensitive application traffic. Moreover, a piggybacking method used in the proposed scheme accelerates the guarantee of the loss, delay, and jitter requirements because the response time for flow control can be extremely reduced up to a quarter of the Round Trip Time (RTT) on average while minimizing the signaling overhead. Simulation results show that our mechanism can guarantee a 10-3 loss-rate under any traffic load while offering satisfactory levels of delay and jitter for delay-sensitive applications.
Nonorthogonal CSK/CDMA with Received-Power Adaptive Access Control Scheme
NASA Astrophysics Data System (ADS)
Komuro, Nobuyoshi; Habuchi, Hiromasa; Tsuboi, Toshinori
The measurements for Multiple Access Interference (MAI) problems and the improvement of the data rate are key issues on the advanced wireless networks. In this paper, the nonorthogonal Code Shift Keying Code Division Multiple Access (CSK/CDMA) with received-power adaptive access control scheme is proposed. In our system, a user who is ready to send measures the received power from other users, and then the user decides whether to transmit or refrain from transmission according to the received power and a pre-decided threshold. Not only overcoming the MAI problems, but our system also improve the throughput performance. The throughput performance of the proposed system is evaluated by theoretical analysis. Consequently, the nonorthogonal CSK/CDMA system improves by applying received-power adaptive access control. It was also found that the throughput performance of the nonorthogonal CSK/CDMA system is better than that of the orthogonal CSK/CDMA system at any Eb/N0. We conclude that the nonorthogonal CSK/CDMA system with received-power adaptive access control scheme is expected to be effective in advanced wireless networks.
Li, Ning; Cao, Jinde
2015-01-01
In this paper, we investigate synchronization for memristor-based neural networks with time-varying delay via an adaptive and feedback controller. Under the framework of Filippov's solution and differential inclusion theory, and by using the adaptive control technique and structuring a novel Lyapunov functional, an adaptive updated law was designed, and two synchronization criteria were derived for memristor-based neural networks with time-varying delay. By removing some of the basic literature assumptions, the derived synchronization criteria were found to be more general than those in existing literature. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results. PMID:25299765
Adaptive Numerical Dissipation Control in High Order Schemes for Multi-D Non-Ideal MHD
NASA Technical Reports Server (NTRS)
Yee, H. C.; Sjoegreen, B.
2005-01-01
The required type and amount of numerical dissipation/filter to accurately resolve all relevant multiscales of complex MHD unsteady high-speed shock/shear/turbulence/combustion problems are not only physical problem dependent, but also vary from one flow region to another. In addition, proper and efficient control of the divergence of the magnetic field (Div(B)) numerical error for high order shock-capturing methods poses extra requirements for the considered type of CPU intensive computations. The goal is to extend our adaptive numerical dissipation control in high order filter schemes and our new divergence-free methods for ideal MHD to non-ideal MHD that include viscosity and resistivity. The key idea consists of automatic detection of different flow features as distinct sensors to signal the appropriate type and amount of numerical dissipation/filter where needed and leave the rest of the region free from numerical dissipation contamination. These scheme-independent detectors are capable of distinguishing shocks/shears, flame sheets, turbulent fluctuations and spurious high-frequency oscillations. The detection algorithm is based on an artificial compression method (ACM) (for shocks/shears), and redundant multiresolution wavelets (WAV) (for the above types of flow feature). These filters also provide a natural and efficient way for the minimization of Div(B) numerical error.
An Indirect Adaptive Control Scheme in the Presence of Actuator and Sensor Failures
NASA Technical Reports Server (NTRS)
Sun, Joy Z.; Josh, Suresh M.
2009-01-01
The problem of controlling a system in the presence of unknown actuator and sensor faults is addressed. The system is assumed to have groups of actuators, and groups of sensors, with each group consisting of multiple redundant similar actuators or sensors. The types of actuator faults considered consist of unknown actuators stuck in unknown positions, as well as reduced actuator effectiveness. The sensor faults considered include unknown biases and outages. The approach employed for fault detection and estimation consists of a bank of Kalman filters based on multiple models, and subsequent control reconfiguration to mitigate the effect of biases caused by failed components as well as to obtain stability and satisfactory performance using the remaining actuators and sensors. Conditions for fault identifiability are presented, and the adaptive scheme is applied to an aircraft flight control example in the presence of actuator failures. Simulation results demonstrate that the method can rapidly and accurately detect faults and estimate the fault values, thus enabling safe operation and acceptable performance in spite of failures.
Raul, Pramod R; Pagilla, Prabhakar R
2015-05-01
In this paper, two adaptive Proportional-Integral (PI) control schemes are designed and discussed for control of web tension in Roll-to-Roll (R2R) manufacturing systems. R2R systems are used to transport continuous materials (called webs) on rollers from the unwind roll to the rewind roll. Maintaining web tension at the desired value is critical to many R2R processes such as printing, coating, lamination, etc. Existing fixed gain PI tension control schemes currently used in industrial practice require extensive tuning and do not provide the desired performance for changing operating conditions and material properties. The first adaptive PI scheme utilizes the model reference approach where the controller gains are estimated based on matching of the actual closed-loop tension control systems with an appropriately chosen reference model. The second adaptive PI scheme utilizes the indirect adaptive control approach together with relay feedback technique to automatically initialize the adaptive PI gains. These adaptive tension control schemes can be implemented on any R2R manufacturing system. The key features of the two adaptive schemes is that their designs are simple for practicing engineers, easy to implement in real-time, and automate the tuning process. Extensive experiments are conducted on a large experimental R2R machine which mimics many features of an industrial R2R machine. These experiments include trials with two different polymer webs and a variety of operating conditions. Implementation guidelines are provided for both adaptive schemes. Experimental results comparing the two adaptive schemes and a fixed gain PI tension control scheme used in industrial practice are provided and discussed. PMID:25555757
NASA Astrophysics Data System (ADS)
Grosges, T.; Borouchaki, H.; Barchiesi, D.
2010-12-01
We present an improved adaptive mesh process based on Riemannian transformation to control the accuracy in high field gradient representation for diffraction problems. Such an adaptive meshing is applied in representing the electromagnetic intensity around a metallic submicronic spherical particle, which is known to present high gradients in limited zones of space including the interference pattern of the electromagnetic field. We show that, the precision of the field variation being controlled, this improved scheme permits drastically decreasing the computational time as well as the memory requirements by adapting the number and the position of nodes where the electromagnetic field must be computed and represented.
Kumar, Navneet; Raj Chelliah, Thanga; Srivastava, S P
2015-07-01
Model Based Control (MBC) is one of the energy optimal controllers used in vector-controlled Induction Motor (IM) for controlling the excitation of motor in accordance with torque and speed. MBC offers energy conservation especially at part-load operation, but it creates ripples in torque and speed during load transition, leading to poor dynamic performance of the drive. This study investigates the opportunity for improving dynamic performance of a three-phase IM operating with MBC and proposes three control schemes: (i) MBC with a low pass filter (ii) torque producing current (iqs) injection in the output of speed controller (iii) Variable Structure Speed Controller (VSSC). The pre and post operation of MBC during load transition is also analyzed. The dynamic performance of a 1-hp, three-phase squirrel-cage IM with mine-hoist load diagram is tested. Test results are provided for the conventional field-oriented (constant flux) control and MBC (adjustable excitation) with proposed schemes. The effectiveness of proposed schemes is also illustrated for parametric variations. The test results and subsequent analysis confer that the motor dynamics improves significantly with all three proposed schemes in terms of overshoot/undershoot peak amplitude of torque and DC link power in addition to energy saving during load transitions. PMID:25820090
A Muscle Synergy-Inspired Adaptive Control Scheme for a Hybrid Walking Neuroprosthesis
Alibeji, Naji A.; Kirsch, Nicholas Andrew; Sharma, Nitin
2015-01-01
A hybrid neuroprosthesis that uses an electric motor-based wearable exoskeleton and functional electrical stimulation (FES) has a promising potential to restore walking in persons with paraplegia. A hybrid actuation structure introduces effector redundancy, making its automatic control a challenging task because multiple muscles and additional electric motor need to be coordinated. Inspired by the muscle synergy principle, we designed a low dimensional controller to control multiple effectors: FES of multiple muscles and electric motors. The resulting control system may be less complex and easier to control. To obtain the muscle synergy-inspired low dimensional control, a subject-specific gait model was optimized to compute optimal control signals for the multiple effectors. The optimal control signals were then dimensionally reduced by using principal component analysis to extract synergies. Then, an adaptive feedforward controller with an update law for the synergy activation was designed. In addition, feedback control was used to provide stability and robustness to the control design. The adaptive-feedforward and feedback control structure makes the low dimensional controller more robust to disturbances and variations in the model parameters and may help to compensate for other time-varying phenomena (e.g., muscle fatigue). This is proven by using a Lyapunov stability analysis, which yielded semi-global uniformly ultimately bounded tracking. Computer simulations were performed to test the new controller on a 4-degree of freedom gait model. PMID:26734606
An adaptive critic-based scheme for consensus control of nonlinear multi-agent systems
NASA Astrophysics Data System (ADS)
Heydari, Ali; Balakrishnan, S. N.
2014-12-01
The problem of decentralised consensus control of a network of heterogeneous nonlinear systems is formulated as an optimal tracking problem and a solution is proposed using an approximate dynamic programming based neurocontroller. The neurocontroller training comprises an initial offline training phase and an online re-optimisation phase to account for the fact that the reference signal subject to tracking is not fully known and available ahead of time, i.e., during the offline training phase. As long as the dynamics of the agents are controllable, and the communication graph has a directed spanning tree, this scheme guarantees the synchronisation/consensus even under switching communication topology and directed communication graph. Finally, an aerospace application is selected for the evaluation of the performance of the method. Simulation results demonstrate the potential of the scheme.
Lee, Ji Min; Park, Sung Hwan; Kim, Jong Shik
2013-01-01
A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. PMID:23983640
NASA Technical Reports Server (NTRS)
Sliwa, S. M.
1984-01-01
A prime obstacle to the widespread use of adaptive control is the degradation of performance and possible instability resulting from the presence of unmodeled dynamics. The approach taken is to explicitly include the unstructured model uncertainty in the output error identification algorithm. The order of the compensator is successively increased by including identified modes. During this model building stage, heuristic rules are used to test for convergence prior to designing compensators. Additionally, the recursive identification algorithm as extended to multi-input, multi-output systems. Enhancements were also made to reduce the computational burden of an algorithm for obtaining minimal state space realizations from the inexact, multivariate transfer functions which result from the identification process. A number of potential adaptive control applications for this approach are illustrated using computer simulations. Results indicated that when speed of adaptation and plant stability are not critical, the proposed schemes converge to enhance system performance.
NASA Astrophysics Data System (ADS)
Hirthe, Eugenia M.; Graf, Thomas
2012-12-01
The automatic non-iterative second-order time-stepping scheme based on the temporal truncation error proposed by Kavetski et al. [Kavetski D, Binning P, Sloan SW. Non-iterative time-stepping schemes with adaptive truncation error control for the solution of Richards equation. Water Resour Res 2002;38(10):1211, http://dx.doi.org/10.1029/2001WR000720.] is implemented into the code of the HydroGeoSphere model. This time-stepping scheme is applied for the first time to the low-Rayleigh-number thermal Elder problem of free convection in porous media [van Reeuwijk M, Mathias SA, Simmons CT, Ward JD. Insights from a pseudospectral approach to the Elder problem. Water Resour Res 2009;45:W04416, http://dx.doi.org/10.1029/2008WR007421.], and to the solutal [Shikaze SG, Sudicky EA, Schwartz FW. Density-dependent solute transport in discretely-fractured geological media: is prediction possible? J Contam Hydrol 1998;34:273-91] problem of free convection in fractured-porous media. Numerical simulations demonstrate that the proposed scheme efficiently limits the temporal truncation error to a user-defined tolerance by controlling the time-step size. The non-iterative second-order time-stepping scheme can be applied to (i) thermal and solutal variable-density flow problems, (ii) linear and non-linear density functions, and (iii) problems including porous and fractured-porous media.
Adaptive MPEG-2 video data hiding scheme
NASA Astrophysics Data System (ADS)
Sarkar, Anindya; Madhow, Upamanyu; Chandrasekaran, Shivkumar; Manjunath, Bangalore S.
2007-02-01
We have investigated adaptive mechanisms for high-volume transform-domain data hiding in MPEG-2 video which can be tuned to sustain varying levels of compression attacks. The data is hidden in the uncompressed domain by scalar quantization index modulation (QIM) on a selected set of low-frequency discrete cosine transform (DCT) coefficients. We propose an adaptive hiding scheme where the embedding rate is varied according to the type of frame and the reference quantization parameter (decided according to MPEG-2 rate control scheme) for that frame. For a 1.5 Mbps video and a frame-rate of 25 frames/sec, we are able to embed almost 7500 bits/sec. Also, the adaptive scheme hides 20% more data and incurs significantly less frame errors (frames for which the embedded data is not fully recovered) than the non-adaptive scheme. Our embedding scheme incurs insertions and deletions at the decoder which may cause de-synchronization and decoding failure. This problem is solved by the use of powerful turbo-like codes and erasures at the encoder. The channel capacity estimate gives an idea of the minimum code redundancy factor required for reliable decoding of hidden data transmitted through the channel. To that end, we have modeled the MPEG-2 video channel using the transition probability matrices given by the data hiding procedure, using which we compute the (hiding scheme dependent) channel capacity.
Method For Model-Reference Adaptive Control
NASA Technical Reports Server (NTRS)
Seraji, Homayoun
1990-01-01
Relatively simple method of model-reference adaptive control (MRAC) developed from two prior classes of MRAC techniques: signal-synthesis method and parameter-adaption method. Incorporated into unified theory, which yields more general adaptation scheme.
Adaptive control of robotic manipulators
NASA Technical Reports Server (NTRS)
Seraji, H.
1987-01-01
The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.
An intelligent robotics control scheme
NASA Technical Reports Server (NTRS)
Orlando, N. E.
1984-01-01
The problem of robot control is viewed at the level of communicating high-level commands produced by intelligent algorithms to the actuator/sensor controllers. Four topics are considered in the design of an integrated control and communications scheme for an intelligent robotic system: the use of abstraction spaces, hierarchical versus heterarchical control, distributed processing, and the interleaving of the steps of plan creation and plan execution. A scheme is presented for an n-level distributed hierarchical/heterarchical control system that effectively interleaves intelligent planning, execution, and sensory feedback. A three-level version of this scheme has been successfully implemented in the Intelligent Systems Research Lab at NASA Langley Research Center. This implementation forms the control structure for DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), a testbed system integrating AI software with robotics hardware.
Adaptive Force Control in Compliant Motion
NASA Technical Reports Server (NTRS)
Seraji, H.
1994-01-01
This paper addresses the problem of controlling a manipulator in compliant motion while in contact with an environment having an unknown stiffness. Two classes of solutions are discussed: adaptive admittance control and adaptive compliance control. In both admittance and compliance control schemes, compensator adaptation is used to ensure a stable and uniform system performance.
Park, Sung-Yun; Cho, Jihyun; Lee, Kyuseok; Yoon, Euisik
2015-12-01
We report a pulse width modulation (PWM) buck converter that is able to achieve a power conversion efficiency (PCE) of > 80% in light loads 100 μA) for implantable biomedical systems. In order to achieve a high PCE for the given light loads, the buck converter adaptively reconfigures the size of power PMOS and NMOS transistors and their gate drivers in accordance with load currents, while operating at a fixed frequency of 1 MHz. The buck converter employs the analog-digital hybrid control scheme for coarse/fine adjustment of power transistors. The coarse digital control generates an approximate duty cycle necessary for driving a given load and selects an appropriate width of power transistors to minimize redundant power dissipation. The fine analog control provides the final tuning of the duty cycle to compensate for the error from the coarse digital control. The mode switching between the analog and digital controls is accomplished by a mode arbiter which estimates the average of duty cycles for the given load condition from limit cycle oscillations (LCO) induced by coarse adjustment. The fabricated buck converter achieved a peak efficiency of 86.3% at 1.4 mA and > 80% efficiency for a wide range of load conditions from 45 μA to 4.1 mA, while generating 1 V output from 2.5-3.3 V supply. The converter occupies 0.375 mm(2) in 0.18 μm CMOS processes and requires two external components: 1.2 μF capacitor and 6.8 μH inductor. PMID:26742139
Adaptive Femtosecond Quantum Control
NASA Astrophysics Data System (ADS)
Gerber, Gustav
2003-03-01
Obtaining active control over the dynamics of quantum-mechanical systems is a fascinating perspective in modern physics. A promising tool for this purpose is available with femtosecond laser technologies. The intrinsically broad spectral distribution and the phase function of femtosecond laser pulses can be specifically manipulated by pulse shapers to drive molecular systems coherently into the desired reaction pathways [1]. The approach of adaptive femtosecond quantum control follows the suggestion of Judson and Rabitz [2], in which a computer-controlled pulse shaper is used in combination with a learning algorithm [3] and direct feedback from the experiment to achieve coherent control over quantum-mechanical processes in an automated fashion, without requiring any model for the system's response. This technique can be applied to the control of gas-phase photodissociation processes [4]. Different bond-cleaving reactions can be preferentially selected, resulting in chemically different products. Prior knowledge about molecular Hamiltonians or reaction mechanisms is not required in this automated control loop, and this scheme works for complex systems. Adaptive pulse-shaping techniques can be transferred to the control of photoprocesses in the liquid phase as well, motivated by the wish to achieve control at particle densities high enough for (bimolecular) synthetic-chemical applications. Chemically selective molecular excitation is achieved by many-parameter adaptive quantum control [5], despite the failure of typical single-parameter approaches (such as wavelength control, intensity control, or linear chirp control). This experiment demonstrates that photoprocesses in two different molecular species can be controlled simultaneously. Applications are envisioned in bimolecular reaction control where specific educt molecules could selectively be "activated" for purposes of chemical synthesis. A new technological development further increases the possibilities and
Decentralized digital adaptive control of robot motion
NASA Technical Reports Server (NTRS)
Tarokh, M.
1990-01-01
A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.
Decentralized adaptive control
NASA Technical Reports Server (NTRS)
Oh, B. J.; Jamshidi, M.; Seraji, H.
1988-01-01
A decentralized adaptive control is proposed to stabilize and track the nonlinear, interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma, proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.
An expert system based intelligent control scheme for space bioreactors
NASA Technical Reports Server (NTRS)
San, Ka-Yiu
1988-01-01
An expert system based intelligent control scheme is being developed for the effective control and full automation of bioreactor systems in space. The scheme developed will have the capability to capture information from various resources including heuristic information from process researchers and operators. The knowledge base of the expert system should contain enough expertise to perform on-line system identification and thus be able to adapt the controllers accordingly with minimal human supervision.
Adaptive control of a Stewart platform-based manipulator
NASA Technical Reports Server (NTRS)
Nguyen, Charles C.; Antrazi, Sami S.; Zhou, Zhen-Lei; Campbell, Charles E., Jr.
1993-01-01
A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.
Adaptable Iterative and Recursive Kalman Filter Schemes
NASA Technical Reports Server (NTRS)
Zanetti, Renato
2014-01-01
Nonlinear filters are often very computationally expensive and usually not suitable for real-time applications. Real-time navigation algorithms are typically based on linear estimators, such as the extended Kalman filter (EKF) and, to a much lesser extent, the unscented Kalman filter. The Iterated Kalman filter (IKF) and the Recursive Update Filter (RUF) are two algorithms that reduce the consequences of the linearization assumption of the EKF by performing N updates for each new measurement, where N is the number of recursions, a tuning parameter. This paper introduces an adaptable RUF algorithm to calculate N on the go, a similar technique can be used for the IKF as well.
NASA Technical Reports Server (NTRS)
Narendra, K. S.; Annaswamy, A. M.
1985-01-01
Several concepts and results in robust adaptive control are are discussed and is organized in three parts. The first part surveys existing algorithms. Different formulations of the problem and theoretical solutions that have been suggested are reviewed here. The second part contains new results related to the role of persistent excitation in robust adaptive systems and the use of hybrid control to improve robustness. In the third part promising new areas for future research are suggested which combine different approaches currently known.
A cascaded coding scheme for error control
NASA Technical Reports Server (NTRS)
Kasami, T.; Lin, S.
1985-01-01
A cascaded coding scheme for error control was investigated. The scheme employs a combination of hard and soft decisions in decoding. Error performance is analyzed. If the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit-error-rate. Some example schemes are studied which seem to be quite suitable for satellite down-link error control.
Direct adaptive control of manipulators in Cartesian space
NASA Technical Reports Server (NTRS)
Seraji, H.
1987-01-01
A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.
A generic efficient adaptive grid scheme for rocket propulsion modeling
NASA Technical Reports Server (NTRS)
Mo, J. D.; Chow, Alan S.
1993-01-01
The objective of this research is to develop an efficient, time-accurate numerical algorithm to discretize the Navier-Stokes equations for the predictions of internal one-, two-dimensional and axisymmetric flows. A generic, efficient, elliptic adaptive grid generator is implicitly coupled with the Lower-Upper factorization scheme in the development of ALUNS computer code. The calculations of one-dimensional shock tube wave propagation and two-dimensional shock wave capture, wave-wave interactions, shock wave-boundary interactions show that the developed scheme is stable, accurate and extremely robust. The adaptive grid generator produced a very favorable grid network by a grid speed technique. This generic adaptive grid generator is also applied in the PARC and FDNS codes and the computational results for solid rocket nozzle flowfield and crystal growth modeling by those codes will be presented in the conference, too. This research work is being supported by NASA/MSFC.
Attitude determination using an adaptive multiple model filtering Scheme
NASA Technical Reports Server (NTRS)
Lam, Quang; Ray, Surendra N.
1995-01-01
Attitude determination has been considered as a permanent topic of active research and perhaps remaining as a forever-lasting interest for spacecraft system designers. Its role is to provide a reference for controls such as pointing the directional antennas or solar panels, stabilizing the spacecraft or maneuvering the spacecraft to a new orbit. Least Square Estimation (LSE) technique was utilized to provide attitude determination for the Nimbus 6 and G. Despite its poor performance (estimation accuracy consideration), LSE was considered as an effective and practical approach to meet the urgent need and requirement back in the 70's. One reason for this poor performance associated with the LSE scheme is the lack of dynamic filtering or 'compensation'. In other words, the scheme is based totally on the measurements and no attempts were made to model the dynamic equations of motion of the spacecraft. We propose an adaptive filtering approach which employs a bank of Kalman filters to perform robust attitude estimation. The proposed approach, whose architecture is depicted, is essentially based on the latest proof on the interactive multiple model design framework to handle the unknown of the system noise characteristics or statistics. The concept fundamentally employs a bank of Kalman filter or submodel, instead of using fixed values for the system noise statistics for each submodel (per operating condition) as the traditional multiple model approach does, we use an on-line dynamic system noise identifier to 'identify' the system noise level (statistics) and update the filter noise statistics using 'live' information from the sensor model. The advanced noise identifier, whose architecture is also shown, is implemented using an advanced system identifier. To insure the robust performance for the proposed advanced system identifier, it is also further reinforced by a learning system which is implemented (in the outer loop) using neural networks to identify other unknown
Attitude determination using an adaptive multiple model filtering Scheme
NASA Astrophysics Data System (ADS)
Lam, Quang; Ray, Surendra N.
1995-05-01
Attitude determination has been considered as a permanent topic of active research and perhaps remaining as a forever-lasting interest for spacecraft system designers. Its role is to provide a reference for controls such as pointing the directional antennas or solar panels, stabilizing the spacecraft or maneuvering the spacecraft to a new orbit. Least Square Estimation (LSE) technique was utilized to provide attitude determination for the Nimbus 6 and G. Despite its poor performance (estimation accuracy consideration), LSE was considered as an effective and practical approach to meet the urgent need and requirement back in the 70's. One reason for this poor performance associated with the LSE scheme is the lack of dynamic filtering or 'compensation'. In other words, the scheme is based totally on the measurements and no attempts were made to model the dynamic equations of motion of the spacecraft. We propose an adaptive filtering approach which employs a bank of Kalman filters to perform robust attitude estimation. The proposed approach, whose architecture is depicted, is essentially based on the latest proof on the interactive multiple model design framework to handle the unknown of the system noise characteristics or statistics. The concept fundamentally employs a bank of Kalman filter or submodel, instead of using fixed values for the system noise statistics for each submodel (per operating condition) as the traditional multiple model approach does, we use an on-line dynamic system noise identifier to 'identify' the system noise level (statistics) and update the filter noise statistics using 'live' information from the sensor model. The advanced noise identifier, whose architecture is also shown, is implemented using an advanced system identifier. To insure the robust performance for the proposed advanced system identifier, it is also further reinforced by a learning system which is implemented (in the outer loop) using neural networks to identify other unknown
Adaptive control applied to Space Station attitude control system
NASA Technical Reports Server (NTRS)
Lam, Quang M.; Chipman, Richard; Hu, Tsay-Hsin G.; Holmes, Eric B.; Sunkel, John
1992-01-01
This paper presents an adaptive control approach to enhance the performance of current attitude control system used by the Space Station Freedom. The proposed control law was developed based on the direct adaptive control or model reference adaptive control scheme. Performance comparisons, subject to inertia variation, of the adaptive controller and the fixed-gain linear quadratic regulator currently implemented for the Space Station are conducted. Both the fixed-gain and the adaptive gain controllers are able to maintain the Station stability for inertia variations of up to 35 percent. However, when a 50 percent inertia variation is applied to the Station, only the adaptive controller is able to maintain the Station attitude.
Adaptive sequential controller
El-Sharkawi, Mohamed A.; Xing, Jian; Butler, Nicholas G.; Rodriguez, Alonso
1994-01-01
An adaptive sequential controller (50/50') for controlling a circuit breaker (52) or other switching device to substantially eliminate transients on a distribution line caused by closing and opening the circuit breaker. The device adaptively compensates for changes in the response time of the circuit breaker due to aging and environmental effects. A potential transformer (70) provides a reference signal corresponding to the zero crossing of the voltage waveform, and a phase shift comparator circuit (96) compares the reference signal to the time at which any transient was produced when the circuit breaker closed, producing a signal indicative of the adaptive adjustment that should be made. Similarly, in controlling the opening of the circuit breaker, a current transformer (88) provides a reference signal that is compared against the time at which any transient is detected when the circuit breaker last opened. An adaptive adjustment circuit (102) produces a compensation time that is appropriately modified to account for changes in the circuit breaker response, including the effect of ambient conditions and aging. When next opened or closed, the circuit breaker is activated at an appropriately compensated time, so that it closes when the voltage crosses zero and opens when the current crosses zero, minimizing any transients on the distribution line. Phase angle can be used to control the opening of the circuit breaker relative to the reference signal provided by the potential transformer.
NASA Astrophysics Data System (ADS)
Reif, Konrad
Die adaptive Fahrgeschwindigkeitsregelung (ACC, Adaptive Cruise Control) ist eine Weiterentwicklung der konventionellen Fahrgeschwindigkeitsregelung, die eine konstante Fahrgeschwindigkeit einstellt. ACC überwacht mittels eines Radarsensors den Bereich vor dem Fahrzeug und passt die Geschwindigkeit den Gegebenheiten an. ACC reagiert auf langsamer vorausfahrende oder einscherende Fahrzeuge mit einer Reduzierung der Geschwindigkeit, sodass der vorgeschriebene Mindestabstand zum vorausfahrenden Fahrzeug nicht unterschritten wird. Hierzu greift ACC in Antrieb und Bremse ein. Sobald das vorausfahrende Fahrzeug beschleunigt oder die Spur verlässt, regelt ACC die Geschwindigkeit wieder auf die vorgegebene Sollgeschwindigkeit ein (Bild 1). ACC steht somit für eine Geschwindigkeitsregelung, die sich dem vorausfahrenden Verkehr anpasst.
An Adaptive Ship Detection Scheme for Spaceborne SAR Imagery.
Leng, Xiangguang; Ji, Kefeng; Zhou, Shilin; Xing, Xiangwei; Zou, Huanxin
2016-01-01
With the rapid development of spaceborne synthetic aperture radar (SAR) and the increasing need of ship detection, research on adaptive ship detection in spaceborne SAR imagery is of great importance. Focusing on practical problems of ship detection, this paper presents a highly adaptive ship detection scheme for spaceborne SAR imagery. It is able to process a wide range of sensors, imaging modes and resolutions. Two main stages are identified in this paper, namely: ship candidate detection and ship discrimination. Firstly, this paper proposes an adaptive land masking method using ship size and pixel size. Secondly, taking into account the imaging mode, incidence angle, and polarization channel of SAR imagery, it implements adaptive ship candidate detection in spaceborne SAR imagery by applying different strategies to different resolution SAR images. Finally, aiming at different types of typical false alarms, this paper proposes a comprehensive ship discrimination method in spaceborne SAR imagery based on confidence level and complexity analysis. Experimental results based on RADARSAT-1, RADARSAT-2, TerraSAR-X, RS-1, and RS-3 images demonstrate that the adaptive scheme proposed in this paper is able to detect ship targets in a fast, efficient and robust way. PMID:27563902
Adaptive Coding and Modulation Scheme for Ka Band Space Communications
NASA Astrophysics Data System (ADS)
Lee, Jaeyoon; Yoon, Dongweon; Lee, Wooju
2010-06-01
Rain attenuation can cause a serious problem that an availability of space communication link on Ka band becomes low. To reduce the effect of rain attenuation on the error performance of space communications in Ka band, an adaptive coding and modulation (ACM) scheme is required. In this paper, to achieve a reliable telemetry data transmission, we propose an adaptive coding and modulation level using turbo code recommended by the consultative committee for space data systems (CCSDS) and various modulation methods (QPSK, 8PSK, 4+12 APSK, and 4+12+16 APSK) adopted in the digital video broadcasting-satellite2 (DVB-S2).
Adaptive Force Control For Compliant Motion Of A Robot
NASA Technical Reports Server (NTRS)
Seraji, Homayoun
1995-01-01
Two adaptive control schemes offer robust solutions to problem of stable control of forces of contact between robotic manipulator and objects in its environment. They are called "adaptive admittance control" and "adaptive compliance control." Both schemes involve use of force-and torque sensors that indicate contact forces. These schemes performed well when tested in computational simulations in which they were used to control seven-degree-of-freedom robot arm in executing contact tasks. Choice between admittance or compliance control is dictated by requirements of the application at hand.
A High Fuel Consumption Efficiency Management Scheme for PHEVs Using an Adaptive Genetic Algorithm
Lee, Wah Ching; Tsang, Kim Fung; Chi, Hao Ran; Hung, Faan Hei; Wu, Chung Kit; Chui, Kwok Tai; Lau, Wing Hong; Leung, Yat Wah
2015-01-01
A high fuel efficiency management scheme for plug-in hybrid electric vehicles (PHEVs) has been developed. In order to achieve fuel consumption reduction, an adaptive genetic algorithm scheme has been designed to adaptively manage the energy resource usage. The objective function of the genetic algorithm is implemented by designing a fuzzy logic controller which closely monitors and resembles the driving conditions and environment of PHEVs, thus trading off between petrol versus electricity for optimal driving efficiency. Comparison between calculated results and publicized data shows that the achieved efficiency of the fuzzified genetic algorithm is better by 10% than existing schemes. The developed scheme, if fully adopted, would help reduce over 600 tons of CO2 emissions worldwide every day. PMID:25587974
A high fuel consumption efficiency management scheme for PHEVs using an adaptive genetic algorithm.
Lee, Wah Ching; Tsang, Kim Fung; Chi, Hao Ran; Hung, Faan Hei; Wu, Chung Kit; Chui, Kwok Tai; Lau, Wing Hong; Leung, Yat Wah
2015-01-01
A high fuel efficiency management scheme for plug-in hybrid electric vehicles (PHEVs) has been developed. In order to achieve fuel consumption reduction, an adaptive genetic algorithm scheme has been designed to adaptively manage the energy resource usage. The objective function of the genetic algorithm is implemented by designing a fuzzy logic controller which closely monitors and resembles the driving conditions and environment of PHEVs, thus trading off between petrol versus electricity for optimal driving efficiency. Comparison between calculated results and publicized data shows that the achieved efficiency of the fuzzified genetic algorithm is better by 10% than existing schemes. The developed scheme, if fully adopted, would help reduce over 600 tons of CO2 emissions worldwide every day. PMID:25587974
Adaptive feedback active noise control
NASA Astrophysics Data System (ADS)
Kuo, Sen M.; Vijayan, Dipa
Feedforward active noise control (ANC) systems use a reference sensor that senses a reference input to the controller. This signal is assumed to be unaffected by the secondary source and is a good measure of the undesired noise to be cancelled by the system. The reference sensor may be acoustic (e.g., microphone) or non-acoustic (e.g., tachometer, optical transducer). An obvious problem when using acoustic sensors is that the reference signal may be corrupted by the canceling signal generated by the secondary source. This problem is known as acoustic feedback. One way of avoiding this is by using a feedback active noise control (FANC) system which dispenses with the reference sensor. The FANC technique originally proposed by Olson and May employs a high gain negative feedback amplifier. This system suffered from the drawback that the error microphone had to be placed very close to the loudspeaker. The operation of the system was restricted to low frequency range and suffered from instability due to the possibility of positive feedback. Feedback systems employing adaptive filtering techniques for active noise control were developed. This paper presents the FANC system modeled as an adaptive prediction scheme.
Adaptive control strategies for flexible robotic arm
NASA Technical Reports Server (NTRS)
Bialasiewicz, Jan T.
1993-01-01
The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity if not unstable closed-loop behavior. Therefore a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.
Adaptive spacecraft attitude control utilizing eigenaxis rotations
NASA Technical Reports Server (NTRS)
Cochran, J. E., Jr.; Colburn, B. K.; Speakman, N. O.
1975-01-01
Conventional and adaptive attitude control of spacecraft which use control moment gyros (CMG's) as torque sources are discussed. Control laws predicated on the assumption of a linear system are used since the spacecraft equations of motion are formulated in an 'eigenaxis system' so that they are essentially linear during 'slow' maneuvers even if large angles are involved. The overall control schemes are 'optimal' in several senses. Eigenaxis rotations and a weighted pseudo-inverse CMG steering law are used and, in the adaptive case, a Model Reference Adaptive System (MRAS) controller based on Liapunov's Second Method is adopted. To substantiate the theory, digital simulation results obtained using physical parameters of a Large Space Telescope type spacecraft are presented. These results indicate that an adaptive control law is often desirable.
Image edge detection based on adaptive lifting scheme
NASA Astrophysics Data System (ADS)
Xia, Ping; Xiang, Xuejun; Wan, Junli
2009-10-01
Image edge is because the gradation is the result of not continuously, is image's information basic characteristic, is also one of hot topics in image processing. This paper analyzes traditional arithmetic of image edge detection and existing problem, uses adaptive lifting wavelet analysis, adaptive adjusts the predict filter and the update filter according to information's partial characteristic, thus realizes the processing information accurate match; at the same time, improves the wavelet edge detection operator, realizes one kind to be suitable for the adaptive lifting scheme image edge detection's algorithm, and applies this method in the medicine image edge detection. The experiment results show that this paper's algorithm is better than the traditional algorithm effect.
A concatenated coding scheme for error control
NASA Technical Reports Server (NTRS)
Lin, S.
1985-01-01
A concatenated coding scheme for error contol in data communications was analyzed. The inner code is used for both error correction and detection, however the outer code is used only for error detection. A retransmission is requested if either the inner code decoder fails to make a successful decoding or the outer code decoder detects the presence of errors after the inner code decoding. Probability of undetected error of the proposed scheme is derived. An efficient method for computing this probability is presented. Throughout efficiency of the proposed error control scheme incorporated with a selective repeat ARQ retransmission strategy is analyzed.
A Neuro-genetic Control Scheme Application for Industrial R 3 Workspaces
NASA Astrophysics Data System (ADS)
Irigoyen, E.; Larrea, M.; Valera, J.; Gómez, V.; Artaza, F.
This work presents a neuro-genetic control scheme for a R 3 workspace application. The solution is based on a Multi Objective Genetic Algorithm reference generator and an Adaptive Predictive Neural Network Controller. Crane position control is presented as an application of the proposed control scheme.
Adaptive control for accelerators
Eaton, Lawrie E.; Jachim, Stephen P.; Natter, Eckard F.
1991-01-01
An adaptive feedforward control loop is provided to stabilize accelerator beam loading of the radio frequency field in an accelerator cavity during successive pulses of the beam into the cavity. A digital signal processor enables an adaptive algorithm to generate a feedforward error correcting signal functionally determined by the feedback error obtained by a beam pulse loading the cavity after the previous correcting signal was applied to the cavity. Each cavity feedforward correcting signal is successively stored in the digital processor and modified by the feedback error resulting from its application to generate the next feedforward error correcting signal. A feedforward error correcting signal is generated by the digital processor in advance of the beam pulse to enable a composite correcting signal and the beam pulse to arrive concurrently at the cavity.
Adaptive nonlinear flight control
NASA Astrophysics Data System (ADS)
Rysdyk, Rolf Theoduor
1998-08-01
Research under supervision of Dr. Calise and Dr. Prasad at the Georgia Institute of Technology, School of Aerospace Engineering. has demonstrated the applicability of an adaptive controller architecture. The architecture successfully combines model inversion control with adaptive neural network (NN) compensation to cancel the inversion error. The tiltrotor aircraft provides a specifically interesting control design challenge. The tiltrotor aircraft is capable of converting from stable responsive fixed wing flight to unstable sluggish hover in helicopter configuration. It is desirable to provide the pilot with consistency in handling qualities through a conversion from fixed wing flight to hover. The linear model inversion architecture was adapted by providing frequency separation in the command filter and the error-dynamics, while not exiting the actuator modes. This design of the architecture provides for a model following setup with guaranteed performance. This in turn allowed for convenient implementation of guaranteed handling qualities. A rigorous proof of boundedness is presented making use of compact sets and the LaSalle-Yoshizawa theorem. The analysis allows for the addition of the e-modification which guarantees boundedness of the NN weights in the absence of persistent excitation. The controller is demonstrated on the Generic Tiltrotor Simulator of Bell-Textron and NASA Ames R.C. The model inversion implementation is robustified with respect to unmodeled input dynamics, by adding dynamic nonlinear damping. A proof of boundedness of signals in the system is included. The effectiveness of the robustification is also demonstrated on the XV-15 tiltrotor. The SHL Perceptron NN provides a more powerful application, based on the universal approximation property of this type of NN. The SHL NN based architecture is also robustified with the dynamic nonlinear damping. A proof of boundedness extends the SHL NN augmentation with robustness to unmodeled actuator
A multivariable control scheme for robot manipulators
NASA Technical Reports Server (NTRS)
Tarokh, M.; Seraji, H.
1991-01-01
The article puts forward a simple scheme for multivariable control of robot manipulators to achieve trajectory tracking. The scheme is composed of an inner loop stabilizing controller and an outer loop tracking controller. The inner loop utilizes a multivariable PD controller to stabilize the robot by placing the poles of the linearized robot model at some desired locations. The outer loop employs a multivariable PID controller to achieve input-output decoupling and trajectory tracking. The gains of the PD and PID controllers are related directly to the linearized robot model by simple closed-form expressions. The controller gains are updated on-line to cope with variations in the robot model during gross motion and for payload change. Alternatively, the use of high gain controllers for gross motion and payload change is discussed. Computer simulation results are given for illustration.
Towards Adaptive High-Resolution Images Retrieval Schemes
NASA Astrophysics Data System (ADS)
Kourgli, A.; Sebai, H.; Bouteldja, S.; Oukil, Y.
2016-06-01
Nowadays, content-based image-retrieval techniques constitute powerful tools for archiving and mining of large remote sensing image databases. High spatial resolution images are complex and differ widely in their content, even in the same category. All images are more or less textured and structured. During the last decade, different approaches for the retrieval of this type of images have been proposed. They differ mainly in the type of features extracted. As these features are supposed to efficiently represent the query image, they should be adapted to all kind of images contained in the database. However, if the image to recognize is somewhat or very structured, a shape feature will be somewhat or very effective. While if the image is composed of a single texture, a parameter reflecting the texture of the image will reveal more efficient. This yields to use adaptive schemes. For this purpose, we propose to investigate this idea to adapt the retrieval scheme to image nature. This is achieved by making some preliminary analysis so that indexing stage becomes supervised. First results obtained show that by this way, simple methods can give equal performances to those obtained using complex methods such as the ones based on the creation of bag of visual word using SIFT (Scale Invariant Feature Transform) descriptors and those based on multi scale features extraction using wavelets and steerable pyramids.
Configuration-Control Scheme Copes With Singularities
NASA Technical Reports Server (NTRS)
Seraji, Homayoun; Colbaugh, Richard D.
1993-01-01
Improved configuration-control scheme for robotic manipulator having redundant degrees of freedom suppresses large joint velocities near singularities, at expense of small trajectory errors. Provides means to enforce order of priority of tasks assigned to robot. Basic concept of configuration control of redundant robot described in "Increasing The Dexterity Of Redundant Robots" (NPO-17801).
A universal scheme for indirect quantum control
NASA Astrophysics Data System (ADS)
Layden, David; Martin-Martinez, Eduardo; Kempf, Achim
The goal of indirect quantum control is to coherently steer a quantum system solely by acting on a quantum actuator to which it is coupled. This approach to quantum control is convenient in many physical settings, as it allows one to avoid direct addressing of the system--and any associated difficulties--altogether. While it is known in principle that control of the actuator typically yields universal control of the system, the practical details of how such indirect control can be achieved are less clear. This deficiency has led to a number of implementation- and model-specific indirect control schemes, in lieu of a general recipe applicable to any physical setting. Here, we present such a recipe, in the form of an open-loop control scheme which implements arbitrary unitary operations on the system by exploiting open dynamics in the actuator. arXiv:1506.06749.
Adaptive control of Space Station with control moment gyros
NASA Technical Reports Server (NTRS)
Bishop, Robert H.; Paynter, Scott J.; Sunkel, John W.
1992-01-01
An adaptive approach to Space Station attitude control is investigated. The main components of the controller are the parameter identification scheme, the control gain calculation, and the control law. The control law is a full-state feedback space station baseline control law. The control gain calculation is based on linear-quadratic regulator theory with eigenvalues placement in a vertical strip. The parameter identification scheme is a recursive extended Kalman filter that estimates the inertias and also provides an estimate of the unmodeled disturbances due to the aerodynamic torques and to the nonlinear effects. An analysis of the inertia estimation problem suggests that it is possible to estimate Space Station inertias accurately during nominal control moment gyro operations. The closed-loop adaptive control law is shown to be capable of stabilizing the Space Station after large inertia changes. Results are presented for the pitch axis.
Residual Distribution Schemes for Conservation Laws Via Adaptive Quadrature
NASA Technical Reports Server (NTRS)
Barth, Timothy; Abgrall, Remi; Biegel, Bryan (Technical Monitor)
2000-01-01
This paper considers a family of nonconservative numerical discretizations for conservation laws which retains the correct weak solution behavior in the limit of mesh refinement whenever sufficient order numerical quadrature is used. Our analysis of 2-D discretizations in nonconservative form follows the 1-D analysis of Hou and Le Floch. For a specific family of nonconservative discretizations, it is shown under mild assumptions that the error arising from non-conservation is strictly smaller than the discretization error in the scheme. In the limit of mesh refinement under the same assumptions, solutions are shown to satisfy an entropy inequality. Using results from this analysis, a variant of the "N" (Narrow) residual distribution scheme of van der Weide and Deconinck is developed for first-order systems of conservation laws. The modified form of the N-scheme supplants the usual exact single-state mean-value linearization of flux divergence, typically used for the Euler equations of gasdynamics, by an equivalent integral form on simplex interiors. This integral form is then numerically approximated using an adaptive quadrature procedure. This renders the scheme nonconservative in the sense described earlier so that correct weak solutions are still obtained in the limit of mesh refinement. Consequently, we then show that the modified form of the N-scheme can be easily applied to general (non-simplicial) element shapes and general systems of first-order conservation laws equipped with an entropy inequality where exact mean-value linearization of the flux divergence is not readily obtained, e.g. magnetohydrodynamics, the Euler equations with certain forms of chemistry, etc. Numerical examples of subsonic, transonic and supersonic flows containing discontinuities together with multi-level mesh refinement are provided to verify the analysis.
Highly accurate adaptive finite element schemes for nonlinear hyperbolic problems
NASA Astrophysics Data System (ADS)
Oden, J. T.
1992-08-01
This document is a final report of research activities supported under General Contract DAAL03-89-K-0120 between the Army Research Office and the University of Texas at Austin from July 1, 1989 through June 30, 1992. The project supported several Ph.D. students over the contract period, two of which are scheduled to complete dissertations during the 1992-93 academic year. Research results produced during the course of this effort led to 6 journal articles, 5 research reports, 4 conference papers and presentations, 1 book chapter, and two dissertations (nearing completion). It is felt that several significant advances were made during the course of this project that should have an impact on the field of numerical analysis of wave phenomena. These include the development of high-order, adaptive, hp-finite element methods for elastodynamic calculations and high-order schemes for linear and nonlinear hyperbolic systems. Also, a theory of multi-stage Taylor-Galerkin schemes was developed and implemented in the analysis of several wave propagation problems, and was configured within a general hp-adaptive strategy for these types of problems. Further details on research results and on areas requiring additional study are given in the Appendix.
An Adaptive Motion Estimation Scheme for Video Coding
Gao, Yuan; Jia, Kebin
2014-01-01
The unsymmetrical-cross multihexagon-grid search (UMHexagonS) is one of the best fast Motion Estimation (ME) algorithms in video encoding software. It achieves an excellent coding performance by using hybrid block matching search pattern and multiple initial search point predictors at the cost of the computational complexity of ME increased. Reducing time consuming of ME is one of the key factors to improve video coding efficiency. In this paper, we propose an adaptive motion estimation scheme to further reduce the calculation redundancy of UMHexagonS. Firstly, new motion estimation search patterns have been designed according to the statistical results of motion vector (MV) distribution information. Then, design a MV distribution prediction method, including prediction of the size of MV and the direction of MV. At last, according to the MV distribution prediction results, achieve self-adaptive subregional searching by the new estimation search patterns. Experimental results show that more than 50% of total search points are dramatically reduced compared to the UMHexagonS algorithm in JM 18.4 of H.264/AVC. As a result, the proposed algorithm scheme can save the ME time up to 20.86% while the rate-distortion performance is not compromised. PMID:24672313
Robust Adaptive Control In Hilbert Space
NASA Technical Reports Server (NTRS)
Wen, John Ting-Yung; Balas, Mark J.
1990-01-01
Paper discusses generalization of scheme for adaptive control of finite-dimensional system to infinite-dimensional Hilbert space. Approach involves generalization of command-generator tracker (CGT) theory. Does not require reference model to be same order as that of plant, and knowledge of order of plant not needed. Suitable for application to high-order systems, main emphasis on adjustment of low-order feedback-gain matrix. Analysis particularly relevant to control of large, flexible structures.
Comments on 'Hamiltonian adaptive control of spacecraft'
NASA Astrophysics Data System (ADS)
Fossen, Thor I.
1993-04-01
In the adaptive scheme presented by Slotine and Benedetto (1990) for attitude tracking control of rigid spacecraft, the spacecraft is parameterized in terms of the inertial frame. This note shows how a parameterization in body coordinates considerably simplifies the representation of the adaptation scheme. The new symbolic expression for the regressor matrix is easy to find even for 6-degrees of freedom (DOF) Hamiltonian systems with a large number of unknown parameters. If the symbolic expression for the regressor matrix is known in advance, the computational complexity is approximately equal for both representations. In the scheme presented by Slotine and Benedetto this is not trivial because the transformation matrix between the inertial frame and the body coordinates is included in the expression for the regressor matrix. Hence, implementation for higher DOF systems is strongly complicated. An example illustrates the advantage of the new representation when modeling a simple three-DOF model of the lateral motion of a space shuttle.
Delanaye, M.; Essers, J.A.
1997-04-01
This paper presents a new finite volume cell-centered scheme for solving the two-dimensional Euler equations. The technique for computing the advective derivatives is based on a high-order Gauss quadrature and an original quadratic reconstruction of the conservative variables for each control volume. A very sensitive detector identifying discontinuity regions switches the scheme to a TVD scheme, and ensures the monotonicity of the solution. The code uses unstructured meshes whose cells are polygons with any number of edges. A mesh adaptation based on cell division is performed in order to increase the resolution of shocks. The accuracy, insensitivity to grid distortions, and shock capturing properties of the scheme are demonstrated for different cascade flow computations.
Novel coupling scheme to control dynamics of coupled discrete systems
NASA Astrophysics Data System (ADS)
Shekatkar, Snehal M.; Ambika, G.
2015-08-01
We present a new coupling scheme to control spatio-temporal patterns and chimeras on 1-d and 2-d lattices and random networks of discrete dynamical systems. The scheme involves coupling with an external lattice or network of damped systems. When the system network and external network are set in a feedback loop, the system network can be controlled to a homogeneous steady state or synchronized periodic state with suppression of the chaotic dynamics of the individual units. The control scheme has the advantage that its design does not require any prior information about the system dynamics or its parameters and works effectively for a range of parameters of the control network. We analyze the stability of the controlled steady state or amplitude death state of lattices using the theory of circulant matrices and Routh-Hurwitz criterion for discrete systems and this helps to isolate regions of effective control in the relevant parameter planes. The conditions thus obtained are found to agree well with those obtained from direct numerical simulations in the specific context of lattices with logistic map and Henon map as on-site system dynamics. We show how chimera states developed in an experimentally realizable 2-d lattice can be controlled using this scheme. We propose this mechanism can provide a phenomenological model for the control of spatio-temporal patterns in coupled neurons due to non-synaptic coupling with the extra cellular medium. We extend the control scheme to regulate dynamics on random networks and adapt the master stability function method to analyze the stability of the controlled state for various topologies and coupling strengths.
Automatic-repeat-request error control schemes
NASA Technical Reports Server (NTRS)
Lin, S.; Costello, D. J., Jr.; Miller, M. J.
1983-01-01
Error detection incorporated with automatic-repeat-request (ARQ) is widely used for error control in data communication systems. This method of error control is simple and provides high system reliability. If a properly chosen code is used for error detection, virtually error-free data transmission can be attained. Various types of ARQ and hybrid ARQ schemes, and error detection using linear block codes are surveyed.
Experimental investigation of adaptive control of a parallel manipulator
NASA Technical Reports Server (NTRS)
Nguyen, Charles C.; Antrazi, Sami S.
1992-01-01
The implementation of a joint-space adaptive control scheme used to control non-compliant motion of a Stewart Platform-based Manipulator (SPBM) is presented. The SPBM is used in a facility called the Hardware Real-Time Emulator (HRTE) developed at Goddard Space Flight Center to emulate space operations. The SPBM is comprised of two platforms and six linear actuators driven by DC motors, and possesses six degrees of freedom. The report briefly reviews the development of the adaptive control scheme which is composed of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories of the SPBM actuator lengths. The derivation of the adaptation law is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that SPBM motion is slow as compared to the controller adaptation rate. An experimental study is conducted to evaluate the performance of the adaptive control scheme implemented to control the SPBM to track a vertical and circular paths under step changes in payload. Experimental results show that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.
Higher-order schemes with CIP method and adaptive Soroban grid towards mesh-free scheme
NASA Astrophysics Data System (ADS)
Yabe, Takashi; Mizoe, Hiroki; Takizawa, Kenji; Moriki, Hiroshi; Im, Hyo-Nam; Ogata, Youichi
2004-02-01
A new class of body-fitted grid system that can keep the third-order accuracy in time and space is proposed with the help of the CIP (constrained interpolation profile/cubic interpolated propagation) method. The grid system consists of the straight lines and grid points moving along these lines like abacus - Soroban in Japanese. The length of each line and the number of grid points in each line can be different. The CIP scheme is suitable to this mesh system and the calculation of large CFL (>10) at locally refined mesh is easily performed. Mesh generation and searching of upstream departure point are very simple and almost mesh-free treatment is possible. Adaptive grid movement and local mesh refinement are demonstrated.
Hybrid adaptive control of a dragonfly model
NASA Astrophysics Data System (ADS)
Couceiro, Micael S.; Ferreira, Nuno M. F.; Machado, J. A. Tenreiro
2012-02-01
Dragonflies show unique and superior flight performances than most of other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, it is presented an adaptive scheme controlling a nonlinear model inspired in a dragonfly-like robot. It is proposed a hybrid adaptive ( HA) law for adjusting the parameters analyzing the tracking error. At the current stage of the project it is considered essential the development of computational simulation models based in the dynamics to test whether strategies or algorithms of control, parts of the system (such as different wing configurations, tail) as well as the complete system. The performance analysis proves the superiority of the HA law over the direct adaptive ( DA) method in terms of faster and improved tracking and parameter convergence.
Global adaptive control for uncertain nonaffine nonlinear hysteretic systems.
Liu, Yong-Hua; Huang, Liangpei; Xiao, Dongming; Guo, Yong
2015-09-01
In this paper, the global output tracking is investigated for a class of uncertain nonlinear hysteretic systems with nonaffine structures. By combining the solution properties of the hysteresis model with the novel backstepping approach, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The proposed control scheme is further modified to tackle the bounded disturbances by adaptively estimating their bounds. It is rigorously proven that the designed adaptive controllers can guarantee global stability of the closed-loop system. Two numerical examples are provided to show the effectiveness of the proposed control schemes. PMID:26169122
Low color distortion adaptive dimming scheme for power efficient LCDs
NASA Astrophysics Data System (ADS)
Nam, Hyoungsik; Song, Eun-Ji
2013-06-01
This paper demonstrates the color compensation algorithm to reduce the color distortion caused by mismatches between the reference gamma value of a dimming algorithm and the display gamma values of an LCD panel in a low power adaptive dimming scheme. In 2010, we presented the YrYgYb algorithm, which used the display gamma values extracted from the luminance data of red, green, and blue sub-pixels, Yr, Yg, and Yb, with the simulation results. It was based on the ideal panel model where the color coordinates were maintained at the fixed values over the gray levels. Whereas, this work introduces an XrYgZb color compensation algorithm which obtains the display gamma values of red, green, and blue from the different tri-stimulus data of Xr, Yg, and Zb, to obtain further reduction on the color distortion. Both simulation and measurement results ensure that a XrYgZb algorithm outperforms a previous YrYgYb algorithm. In simulation which has been conducted at the practical model derived from the measured data, the XrYgZb scheme achieves lower maximum and average color difference values of 3.7743 and 0.6230 over 24 test picture images, compared to 4.864 and 0.7156 in the YrYgYb one. In measurement of a 19-inch LCD panel, the XrYgZb method also accomplishes smaller color difference values of 1.444072 and 5.588195 over 49 combinations of red, green, and blue data, compared to 1.50578 and 6.00403 of the YrYgYb at the backlight dimming ratios of 0.85 and 0.4.
Applying statistical process control to the adaptive rate control problem
NASA Astrophysics Data System (ADS)
Manohar, Nelson R.; Willebeek-LeMair, Marc H.; Prakash, Atul
1997-12-01
Due to the heterogeneity and shared resource nature of today's computer network environments, the end-to-end delivery of multimedia requires adaptive mechanisms to be effective. We present a framework for the adaptive streaming of heterogeneous media. We introduce the application of online statistical process control (SPC) to the problem of dynamic rate control. In SPC, the goal is to establish (and preserve) a state of statistical quality control (i.e., controlled variability around a target mean) over a process. We consider the end-to-end streaming of multimedia content over the internet as the process to be controlled. First, at each client, we measure process performance and apply statistical quality control (SQC) with respect to application-level requirements. Then, we guide an adaptive rate control (ARC) problem at the server based on the statistical significance of trends and departures on these measurements. We show this scheme facilitates handling of heterogeneous media. Last, because SPC is designed to monitor long-term process performance, we show that our online SPC scheme could be used to adapt to various degrees of long-term (network) variability (i.e., statistically significant process shifts as opposed to short-term random fluctuations). We develop several examples and analyze its statistical behavior and guarantees.
Vectorizable algorithms for adaptive schemes for rapid analysis of SSME flows
NASA Technical Reports Server (NTRS)
Oden, J. Tinsley
1987-01-01
An initial study into vectorizable algorithms for use in adaptive schemes for various types of boundary value problems is described. The focus is on two key aspects of adaptive computational methods which are crucial in the use of such methods (for complex flow simulations such as those in the Space Shuttle Main Engine): the adaptive scheme itself and the applicability of element-by-element matrix computations in a vectorizable format for rapid calculations in adaptive mesh procedures.
Two hybrid ARQ error control schemes for near earth satellite communications
NASA Technical Reports Server (NTRS)
Lin, Shu; Kasami, Tadao
1986-01-01
Two hybrid automatic repeat request (ARQ) error control schemes are proposed for NASA near earth satellite communications. Both schemes are adaptive in nature, and employ cascaded codes to achieve both high reliability and throughput efficiency for high data rate file transfer.
Two hybrid ARQ error control schemes for near Earth satellite communications
NASA Technical Reports Server (NTRS)
Lin, S.
1986-01-01
Two hybrid Automatic Repeat Request (ARQ) error control schemes are proposed for NASA near Earth satellite communications. Both schemes are adaptive in nature, and employ cascaded codes to achieve both high reliability and throughput efficiency for high data rate file transfer.
Adaptive control of molecular alignment
Horn, C.; Wollenhaupt, M.; Krug, M.; Baumert, T.; Nalda, R. de; Banares, L.
2006-03-15
We demonstrate control on nonadiabatic molecular alignment by using a spectrally phase-shaped laser pulse. An evolutionary algorithm in a closed feedback loop has been used in order to find pulse shapes that maximize a given effect. In particular, this scheme has been applied to the optimization of total alignment, and to the control of the temporal structure of the alignment transient within a revival. Asymmetric temporal pulse shapes have been found to be very effective for the latter and have been studied separately in a single-parameter control scheme. Our experimental results are supported by numerical simulations.
A concatenated coding scheme for error control
NASA Technical Reports Server (NTRS)
Lin, S.
1985-01-01
A concatenated coding scheme for error control in data communications is analyzed. The inner code is used for both error correction and detection, however the outer code is used only for error detection. A retransmission is requested if the outer code detects the presence of errors after the inner code decoding. The probability of undetected error of the above error control scheme is derived and upper bounded. Two specific exmaples are analyzed. In the first example, the inner code is a distance-4 shortened Hamming code with generator polynomial (X+1)(X(6)+X+1) = X(7)+X(6)+X(2)+1 and the outer code is a distance-4 shortened Hamming code with generator polynomial (X+1)X(15+X(14)+X(13)+X(12)+X(4)+X(3)+X(2)+X+1) = X(16)+X(12)+X(5)+1 which is the X.25 standard for packet-switched data network. This example is proposed for error control on NASA telecommand links. In the second example, the inner code is the same as that in the first example but the outer code is a shortened Reed-Solomon code with symbols from GF(2(8)) and generator polynomial (X+1)(X+alpha) where alpha is a primitive element in GF(z(8)).
Adaptive lifting scheme with sparse criteria for image coding
NASA Astrophysics Data System (ADS)
Kaaniche, Mounir; Pesquet-Popescu, Béatrice; Benazza-Benyahia, Amel; Pesquet, Jean-Christophe
2012-12-01
Lifting schemes (LS) were found to be efficient tools for image coding purposes. Since LS-based decompositions depend on the choice of the prediction/update operators, many research efforts have been devoted to the design of adaptive structures. The most commonly used approaches optimize the prediction filters by minimizing the variance of the detail coefficients. In this article, we investigate techniques for optimizing sparsity criteria by focusing on the use of an ℓ 1 criterion instead of an ℓ 2 one. Since the output of a prediction filter may be used as an input for the other prediction filters, we then propose to optimize such a filter by minimizing a weighted ℓ 1 criterion related to the global rate-distortion performance. More specifically, it will be shown that the optimization of the diagonal prediction filter depends on the optimization of the other prediction filters and vice-versa. Related to this fact, we propose to jointly optimize the prediction filters by using an algorithm that alternates between the optimization of the filters and the computation of the weights. Experimental results show the benefits which can be drawn from the proposed optimization of the lifting operators.
An adaptive nonlinear solution scheme for reservoir simulation
Lett, G.S.
1996-12-31
Numerical reservoir simulation involves solving large, nonlinear systems of PDE with strongly discontinuous coefficients. Because of the large demands on computer memory and CPU, most users must perform simulations on very coarse grids. The average properties of the fluids and rocks must be estimated on these grids. These coarse grid {open_quotes}effective{close_quotes} properties are costly to determine, and risky to use, since their optimal values depend on the fluid flow being simulated. Thus, they must be found by trial-and-error techniques, and the more coarse the grid, the poorer the results. This paper describes a numerical reservoir simulator which accepts fine scale properties and automatically generates multiple levels of coarse grid rock and fluid properties. The fine grid properties and the coarse grid simulation results are used to estimate discretization errors with multilevel error expansions. These expansions are local, and identify areas requiring local grid refinement. These refinements are added adoptively by the simulator, and the resulting composite grid equations are solved by a nonlinear Fast Adaptive Composite (FAC) Grid method, with a damped Newton algorithm being used on each local grid. The nonsymmetric linear system of equations resulting from Newton`s method are in turn solved by a preconditioned Conjugate Gradients-like algorithm. The scheme is demonstrated by performing fine and coarse grid simulations of several multiphase reservoirs from around the world.
Aircraft adaptive learning control
NASA Technical Reports Server (NTRS)
Lee, P. S. T.; Vanlandingham, H. F.
1979-01-01
The optimal control theory of stochastic linear systems is discussed in terms of the advantages of distributed-control systems, and the control of randomly-sampled systems. An optimal solution to longitudinal control is derived and applied to the F-8 DFBW aircraft. A randomly-sampled linear process model with additive process and noise is developed.
Robust adaptive vibration control of a flexible structure.
Khoshnood, A M; Moradi, H M
2014-07-01
Different types of L1 adaptive control systems show that using robust theories with adaptive control approaches has produced high performance controllers. In this study, a model reference adaptive control scheme considering robust theories is used to propose a practical control system for vibration suppression of a flexible launch vehicle (FLV). In this method, control input of the system is shaped from the dynamic model of the vehicle and components of the control input are adaptively constructed by estimating the undesirable vibration frequencies. Robust stability of the adaptive vibration control system is guaranteed by using the L1 small gain theorem. Simulation results of the robust adaptive vibration control strategy confirm that the effects of vibration on the vehicle performance considerably decrease without the loss of the phase margin of the system. PMID:24703188
Adaptive Variable Bias Magnetic Bearing Control
NASA Technical Reports Server (NTRS)
Johnson, Dexter; Brown, Gerald V.; Inman, Daniel J.
1998-01-01
Most magnetic bearing control schemes use a bias current with a superimposed control current to linearize the relationship between the control current and the force it delivers. With the existence of the bias current, even in no load conditions, there is always some power consumption. In aerospace applications, power consumption becomes an important concern. In response to this concern, an alternative magnetic bearing control method, called Adaptive Variable Bias Control (AVBC), has been developed and its performance examined. The AVBC operates primarily as a proportional-derivative controller with a relatively slow, bias current dependent, time-varying gain. The AVBC is shown to reduce electrical power loss, be nominally stable, and provide control performance similar to conventional bias control. Analytical, computer simulation, and experimental results are presented in this paper.
Robust, Practical Adaptive Control for Launch Vehicles
NASA Technical Reports Server (NTRS)
Orr, Jeb. S.; VanZwieten, Tannen S.
2012-01-01
A modern mechanization of a classical adaptive control concept is presented with an application to launch vehicle attitude control systems. Due to a rigorous flight certification environment, many adaptive control concepts are infeasible when applied to high-risk aerospace systems; methods of stability analysis are either intractable for high complexity models or cannot be reconciled in light of classical requirements. Furthermore, many adaptive techniques appearing in the literature are not suitable for application to conditionally stable systems with complex flexible-body dynamics, as is often the case with launch vehicles. The present technique is a multiplicative forward loop gain adaptive law similar to that used for the NASA X-15 flight research vehicle. In digital implementation with several novel features, it is well-suited to application on aerodynamically unstable launch vehicles with thrust vector control via augmentation of the baseline attitude/attitude-rate feedback control scheme. The approach is compatible with standard design features of autopilots for launch vehicles, including phase stabilization of lateral bending and slosh via linear filters. In addition, the method of assessing flight control stability via classical gain and phase margins is not affected under reasonable assumptions. The algorithm s ability to recover from certain unstable operating regimes can in fact be understood in terms of frequency-domain criteria. Finally, simulation results are presented that confirm the ability of the algorithm to improve performance and robustness in realistic failure scenarios.
ERIC Educational Resources Information Center
Johnson, Burke; Strodl, Peter
This paper presents a sensitizing conceptual scheme for examining interpersonal adaptation in urban classrooms. The construct "interpersonal adaptation" is conceptualized as the interaction of individual/personality factors, interpersonal factors, and social/cultural factors. The model is applied to the urban school. The conceptual scheme asserts…
Adaptive Control Of Remote Manipulator
NASA Technical Reports Server (NTRS)
Seraji, Homayoun
1989-01-01
Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.
Decentralized adaptive control of manipulators - Theory, simulation, and experimentation
NASA Technical Reports Server (NTRS)
Seraji, Homayoun
1989-01-01
The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.
Hybrid Adaptive Flight Control with Model Inversion Adaptation
NASA Technical Reports Server (NTRS)
Nguyen, Nhan
2011-01-01
This study investigates a hybrid adaptive flight control method as a design possibility for a flight control system that can enable an effective adaptation strategy to deal with off-nominal flight conditions. The hybrid adaptive control blends both direct and indirect adaptive control in a model inversion flight control architecture. The blending of both direct and indirect adaptive control provides a much more flexible and effective adaptive flight control architecture than that with either direct or indirect adaptive control alone. The indirect adaptive control is used to update the model inversion controller by an on-line parameter estimation of uncertain plant dynamics based on two methods. The first parameter estimation method is an indirect adaptive law based on the Lyapunov theory, and the second method is a recursive least-squares indirect adaptive law. The model inversion controller is therefore made to adapt to changes in the plant dynamics due to uncertainty. As a result, the modeling error is reduced that directly leads to a decrease in the tracking error. In conjunction with the indirect adaptive control that updates the model inversion controller, a direct adaptive control is implemented as an augmented command to further reduce any residual tracking error that is not entirely eliminated by the indirect adaptive control.
Adaptive Control Allocation in the Presence of Actuator Failures
NASA Technical Reports Server (NTRS)
Liu, Yu; Crespo, Luis G.
2010-01-01
In this paper, a novel adaptive control allocation framework is proposed. In the adaptive control allocation structure, cooperative actuators are grouped and treated as an equivalent control effector. A state feedback adaptive control signal is designed for the equivalent effector and allocated to the member actuators adaptively. Two adaptive control allocation algorithms are proposed, which guarantee closed-loop stability and asymptotic state tracking in the presence of uncertain loss of effectiveness and constant-magnitude actuator failures. The proposed algorithms can be shown to reduce the controller complexity with proper grouping of the actuators. The proposed adaptive control allocation schemes are applied to two linearized aircraft models, and the simulation results demonstrate the performance of the proposed algorithms.
Criticality of Adaptive Control Dynamics
NASA Astrophysics Data System (ADS)
Patzelt, Felix; Pawelzik, Klaus
2011-12-01
We show, that stabilization of a dynamical system can annihilate observable information about its structure. This mechanism induces critical points as attractors in locally adaptive control. It also reveals, that previously reported criticality in simple controllers is caused by adaptation and not by other controller details. We apply these results to a real-system example: human balancing behavior. A model of predictive adaptive closed-loop control subject to some realistic constraints is introduced and shown to reproduce experimental observations in unprecedented detail. Our results suggests, that observed error distributions in between the Lévy and Gaussian regimes may reflect a nearly optimal compromise between the elimination of random local trends and rare large errors.
Adaptive Control For Flexible Structures
NASA Technical Reports Server (NTRS)
Bayard, David S.; Ih, Che-Hang Charles; Wang, Shyh Jong
1988-01-01
Paper discusses ways to cope with measurement noise in adaptive control system for large, flexible structure in outer space. System generates control signals for torque and thrust actuators to turn all or parts of structure to desired orientations while suppressing torsional and other vibrations. Main result of paper is general theory for introduction of filters to suppress measurement noise while preserving stability.
Experimental study on direct adaptive control of a PUMA 560 industrial robot
NASA Technical Reports Server (NTRS)
Seraji, H.; Lee, T.; Delpech, M.
1990-01-01
The implementation and experimental validation of a direct adaptive control scheme on a PUMA 560 industrial robot is discussed. The design theory for direct adaptive control of manipulators is outlined and the test facility and software are described. Results are presented from the experiments on the simultaneous control of all of the six joint angles and control of the end-effector position and orientation of the robot. Also, the possible applications of the direct adaptive control scheme are considered.
Adaptive controller for a needle free jet-injector system.
Modak, Ashin; Hogan, N Catherine; Hunter, Ian W
2015-08-01
A nonlinear, sliding mode adaptive controller was created for a needle-free jet injection system. The controller was based on a simplified lumped-sum parameter model of the jet-injection mechanics. The adaptive control scheme was compared to a currently-used Feed-forward+PID controller in both ejection of water into air, and injection of dye into ex-vivo porcine tissue. The adaptive controller was more successful in trajectory tracking and was more robust to the biological variations caused by a tissue load. PMID:26737988
Adaptive control: Stability, convergence, and robustness
NASA Technical Reports Server (NTRS)
Sastry, Shankar; Bodson, Marc
1989-01-01
The deterministic theory of adaptive control (AC) is presented in an introduction for graduate students and practicing engineers. Chapters are devoted to basic AC approaches, notation and fundamental theorems, the identification problem, model-reference AC, parameter convergence using averaging techniques, and AC robustness. Consideration is given to the use of prior information, the global stability of indirect AC schemes, multivariable AC, linearizing AC for a class of nonlinear systems, AC of linearizable minimum-phase systems, and MIMO systems decouplable by static state feedback.
Adaptive Source Coding Schemes for Geometrically Distributed Integer Alphabets
NASA Technical Reports Server (NTRS)
Cheung, K-M.; Smyth, P.
1993-01-01
Revisit the Gallager and van Voorhis optimal source coding scheme for geometrically distributed non-negative integer alphabets and show that the various subcodes in the popular Rice algorithm can be derived from the Gallager and van Voorhis code.
Robust Optimal Adaptive Control Method with Large Adaptive Gain
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.
2009-01-01
In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly. However, a large adaptive gain can lead to high-frequency oscillations which can adversely affect robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient stability robustness. Simulations were conducted for a damaged generic transport aircraft with both standard adaptive control and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model while maintaining a sufficient time delay margin.
Robust adaptive control for Unmanned Aerial Vehicles
NASA Astrophysics Data System (ADS)
Kahveci, Nazli E.
The objective of meeting higher endurance requirements remains a challenging task for any type and size of Unmanned Aerial Vehicles (UAVs). According to recent research studies significant energy savings can be realized through utilization of thermal currents. The navigation strategies followed across thermal regions, however, are based on rather intuitive assessments of remote pilots and lack any systematic path planning approaches. Various methods to enhance the autonomy of UAVs in soaring applications are investigated while seeking guarantees for flight performance improvements. The dynamics of the aircraft, small UAVs in particular, are affected by the environmental conditions, whereas unmodeled dynamics possibly become significant during aggressive flight maneuvers. Besides, the demanded control inputs might have a magnitude range beyond the limits dictated by the control surface actuators. The consequences of ignoring these issues can be catastrophic. Supporting this claim NASA Dryden Flight Research Center reports considerable performance degradation and even loss of stability in autonomous soaring flight tests with the subsequent risk of an aircraft crash. The existing control schemes are concluded to suffer from limited performance. Considering the aircraft dynamics and the thermal characteristics we define a vehicle-specific trajectory optimization problem to achieve increased cross-country speed and extended range of flight. In an environment with geographically dispersed set of thermals of possibly limited lifespan, we identify the similarities to the Vehicle Routing Problem (VRP) and provide both exact and approximate guidance algorithms for the navigation of automated UAVs. An additional stochastic approach is used to quantify the performance losses due to incorrect thermal data while dealing with random gust disturbances and onboard sensor measurement inaccuracies. One of the main contributions of this research is a novel adaptive control design with
Direct adaptive control of a PUMA 560 industrial robot
NASA Technical Reports Server (NTRS)
Seraji, Homayoun; Lee, Thomas; Delpech, Michel
1989-01-01
The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.
Adaptive neural network consensus based control of robot formations
NASA Astrophysics Data System (ADS)
Guzey, H. M.; Sarangapani, Jagannathan
2013-05-01
In this paper, adaptive consensus based formation control scheme is derived for mobile robots in a pre-defined formation when full dynamics of the robots which include inertia, Corolis, and friction vector are considered. It is shown that dynamic uncertainties of robots can make overall formation unstable when traditional consensus scheme is utilized. In order to estimate the affine nonlinear robot dynamics, a NN based adaptive scheme is utilized. In addition to this adaptive feedback control input, an additional control input is introduced based on the consensus approach to make the robots keep their desired formation. Subsequently, the outer consensus loop is redesigned for reduced communication. Lyapunov theory is used to show the stability of overall system. Simulation results are included at the end.
Designing Adaptive Low-Dissipative High Order Schemes for Long-Time Integrations. Chapter 1
NASA Technical Reports Server (NTRS)
Yee, Helen C.; Sjoegreen, B.; Mansour, Nagi N. (Technical Monitor)
2001-01-01
A general framework for the design of adaptive low-dissipative high order schemes is presented. It encompasses a rather complete treatment of the numerical approach based on four integrated design criteria: (1) For stability considerations, condition the governing equations before the application of the appropriate numerical scheme whenever it is possible; (2) For consistency, compatible schemes that possess stability properties, including physical and numerical boundary condition treatments, similar to those of the discrete analogue of the continuum are preferred; (3) For the minimization of numerical dissipation contamination, efficient and adaptive numerical dissipation control to further improve nonlinear stability and accuracy should be used; and (4) For practical considerations, the numerical approach should be efficient and applicable to general geometries, and an efficient and reliable dynamic grid adaptation should be used if necessary. These design criteria are, in general, very useful to a wide spectrum of flow simulations. However, the demand on the overall numerical approach for nonlinear stability and accuracy is much more stringent for long-time integration of complex multiscale viscous shock/shear/turbulence/acoustics interactions and numerical combustion. Robust classical numerical methods for less complex flow physics are not suitable or practical for such applications. The present approach is designed expressly to address such flow problems, especially unsteady flows. The minimization of employing very fine grids to overcome the production of spurious numerical solutions and/or instability due to under-resolved grids is also sought. The incremental studies to illustrate the performance of the approach are summarized. Extensive testing and full implementation of the approach is forthcoming. The results shown so far are very encouraging.
An adaptive interpolation scheme for molecular potential energy surfaces.
Kowalewski, Markus; Larsson, Elisabeth; Heryudono, Alfa
2016-08-28
The calculation of potential energy surfaces for quantum dynamics can be a time consuming task-especially when a high level of theory for the electronic structure calculation is required. We propose an adaptive interpolation algorithm based on polyharmonic splines combined with a partition of unity approach. The adaptive node refinement allows to greatly reduce the number of sample points by employing a local error estimate. The algorithm and its scaling behavior are evaluated for a model function in 2, 3, and 4 dimensions. The developed algorithm allows for a more rapid and reliable interpolation of a potential energy surface within a given accuracy compared to the non-adaptive version. PMID:27586901
Adaptive Accommodation Control Method for Complex Assembly
NASA Astrophysics Data System (ADS)
Kang, Sungchul; Kim, Munsang; Park, Shinsuk
Robotic systems have been used to automate assembly tasks in manufacturing and in teleoperation. Conventional robotic systems, however, have been ineffective in controlling contact force in multiple contact states of complex assemblythat involves interactions between complex-shaped parts. Unlike robots, humans excel at complex assembly tasks by utilizing their intrinsic impedance, forces and torque sensation, and tactile contact clues. By examining the human behavior in assembling complex parts, this study proposes a novel geometry-independent control method for robotic assembly using adaptive accommodation (or damping) algorithm. Two important conditions for complex assembly, target approachability and bounded contact force, can be met by the proposed control scheme. It generates target approachable motion that leads the object to move closer to a desired target position, while contact force is kept under a predetermined value. Experimental results from complex assembly tests have confirmed the feasibility and applicability of the proposed method.
Novel neural networks-based fault tolerant control scheme with fault alarm.
Shen, Qikun; Jiang, Bin; Shi, Peng; Lim, Cheng-Chew
2014-11-01
In this paper, the problem of adaptive active fault-tolerant control for a class of nonlinear systems with unknown actuator fault is investigated. The actuator fault is assumed to have no traditional affine appearance of the system state variables and control input. The useful property of the basis function of the radial basis function neural network (NN), which will be used in the design of the fault tolerant controller, is explored. Based on the analysis of the design of normal and passive fault tolerant controllers, by using the implicit function theorem, a novel NN-based active fault-tolerant control scheme with fault alarm is proposed. Comparing with results in the literature, the fault-tolerant control scheme can minimize the time delay between fault occurrence and accommodation that is called the time delay due to fault diagnosis, and reduce the adverse effect on system performance. In addition, the FTC scheme has the advantages of a passive fault-tolerant control scheme as well as the traditional active fault-tolerant control scheme's properties. Furthermore, the fault-tolerant control scheme requires no additional fault detection and isolation model which is necessary in the traditional active fault-tolerant control scheme. Finally, simulation results are presented to demonstrate the efficiency of the developed techniques. PMID:25014982
Adaptive independent joint control of manipulators - Theory and experiment
NASA Technical Reports Server (NTRS)
Seraji, H.
1988-01-01
The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.
Discrete-time adaptive control of robot manipulators
NASA Technical Reports Server (NTRS)
Tarokh, M.
1989-01-01
A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that asymptotic trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation.
Adaptive nonseparable vector lifting scheme for digital holographic data compression.
Xing, Yafei; Kaaniche, Mounir; Pesquet-Popescu, Béatrice; Dufaux, Frédéric
2015-01-01
Holographic data play a crucial role in recent three-dimensional imaging as well as microscopic applications. As a result, huge amounts of storage capacity will be involved for this kind of data. Therefore, it becomes necessary to develop efficient hologram compression schemes for storage and transmission purposes. In this paper, we focus on the shifted distance information, obtained by the phase-shifting algorithm, where two sets of difference data need to be encoded. More precisely, a nonseparable vector lifting scheme is investigated in order to exploit the two-dimensional characteristics of the holographic contents. Simulations performed on different digital holograms have shown the effectiveness of the proposed method in terms of bitrate saving and quality of object reconstruction. PMID:25967029
An adaptive additive inflation scheme for Ensemble Kalman Filters
NASA Astrophysics Data System (ADS)
Sommer, Matthias; Janjic, Tijana
2016-04-01
Data assimilation for atmospheric dynamics requires an accurate estimate for the uncertainty of the forecast in order to obtain an optimal combination with available observations. This uncertainty has two components, firstly the uncertainty which originates in the the initial condition of that forecast itself and secondly the error of the numerical model used. While the former can be approximated quite successfully with an ensemble of forecasts (an additional sampling error will occur), little is known about the latter. For ensemble data assimilation, ad-hoc methods to address model error include multiplicative and additive inflation schemes, possibly also flow-dependent. The additive schemes rely on samples for the model error e.g. from short-term forecast tendencies or differences of forecasts with varying resolutions. However since these methods work in ensemble space (i.e. act directly on the ensemble perturbations) the sampling error is fixed and can be expected to affect the skill substiantially. In this contribution we show how inflation can be generalized to take into account more degrees of freedom and what improvements for future operational ensemble data assimilation can be expected from this, also in comparison with other inflation schemes.
Adaptable state based control system
NASA Technical Reports Server (NTRS)
Rasmussen, Robert D. (Inventor); Dvorak, Daniel L. (Inventor); Gostelow, Kim P. (Inventor); Starbird, Thomas W. (Inventor); Gat, Erann (Inventor); Chien, Steve Ankuo (Inventor); Keller, Robert M. (Inventor)
2004-01-01
An autonomous controller, comprised of a state knowledge manager, a control executor, hardware proxies and a statistical estimator collaborates with a goal elaborator, with which it shares common models of the behavior of the system and the controller. The elaborator uses the common models to generate from temporally indeterminate sets of goals, executable goals to be executed by the controller. The controller may be updated to operate in a different system or environment than that for which it was originally designed by the replacement of shared statistical models and by the instantiation of a new set of state variable objects derived from a state variable class. The adaptation of the controller does not require substantial modification of the goal elaborator for its application to the new system or environment.
A new approach to adaptive control of manipulators
NASA Technical Reports Server (NTRS)
Seraji, H.
1987-01-01
An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.
Adaptive neural network motion control of manipulators with experimental evaluations.
Puga-Guzmán, S; Moreno-Valenzuela, J; Santibáñez, V
2014-01-01
A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller. PMID:24574910
Neural and Fuzzy Adaptive Control of Induction Motor Drives
Bensalem, Y.; Sbita, L.; Abdelkrim, M. N.
2008-06-12
This paper proposes an adaptive neural network speed control scheme for an induction motor (IM) drive. The proposed scheme consists of an adaptive neural network identifier (ANNI) and an adaptive neural network controller (ANNC). For learning the quoted neural networks, a back propagation algorithm was used to automatically adjust the weights of the ANNI and ANNC in order to minimize the performance functions. Here, the ANNI can quickly estimate the plant parameters and the ANNC is used to provide on-line identification of the command and to produce a control force, such that the motor speed can accurately track the reference command. By combining artificial neural network techniques with fuzzy logic concept, a neural and fuzzy adaptive control scheme is developed. Fuzzy logic was used for the adaptation of the neural controller to improve the robustness of the generated command. The developed method is robust to load torque disturbance and the speed target variations when it ensures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the IM designed controller.
Neural and Fuzzy Adaptive Control of Induction Motor Drives
NASA Astrophysics Data System (ADS)
Bensalem, Y.; Sbita, L.; Abdelkrim, M. N.
2008-06-01
This paper proposes an adaptive neural network speed control scheme for an induction motor (IM) drive. The proposed scheme consists of an adaptive neural network identifier (ANNI) and an adaptive neural network controller (ANNC). For learning the quoted neural networks, a back propagation algorithm was used to automatically adjust the weights of the ANNI and ANNC in order to minimize the performance functions. Here, the ANNI can quickly estimate the plant parameters and the ANNC is used to provide on-line identification of the command and to produce a control force, such that the motor speed can accurately track the reference command. By combining artificial neural network techniques with fuzzy logic concept, a neural and fuzzy adaptive control scheme is developed. Fuzzy logic was used for the adaptation of the neural controller to improve the robustness of the generated command. The developed method is robust to load torque disturbance and the speed target variations when it ensures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the IM designed controller.
A Quasi-Conservative Adaptive Semi-Lagrangian Advection-Diffusion Scheme
NASA Astrophysics Data System (ADS)
Behrens, Joern
2014-05-01
Many processes in atmospheric or oceanic tracer transport are conveniently represented by advection-diffusion type equations. Depending on the magnitudes of both components, the mathematical representation and consequently the discretization is a non-trivial problem. We will focus on advection-dominated situations and will introduce a semi-Lagrangian scheme with adaptive mesh refinement for high local resolution. This scheme is well suited for pollutant transport from point sources, or transport processes featuring fine filamentation with corresponding local concentration maxima. In order to achieve stability, accuracy and conservation, we combine an adaptive mesh refinement quasi-conservative semi-Lagrangian scheme, based on an integral formulation of the underlying advective conservation law (Behrens, 2006), with an advection diffusion scheme as described by Spiegelman and Katz (2006). The resulting scheme proves to be conservative and stable, while maintaining high computational efficiency and accuracy.
Study on rule-based adaptive fuzzy excitation control technology
NASA Astrophysics Data System (ADS)
Zhao, Hui; Wang, Hong-jun; Liu, Lu-yuan; Yue, You-jun
2008-10-01
Power system is a kind of typical non-linear system, it is hard to achieve excellent control performance with conventional PID controller under different operating conditions. Fuzzy parameter adaptive PID exciting controller is very efficient to overcome the influence of tiny disturbances, but the performance of the control system will be worsened when operating conditions of the system change greatly or larger disturbances occur. To solve this problem, this article presents a rule adaptive fuzzy control scheme for synchronous generator exciting system. In this scheme the control rule adaptation is implemented by regulating the value of parameter di under the given proportional divisors K1, K2 and K3 of fuzzy sets Ai and Bi. This rule adaptive mechanism is constituted by two groups of original rules about the self-generation and self-correction of the control rule. Using two groups of rules, the control rule activated by status 1 and 2 in figure 2 system can be regulated automatically and simultaneously at the time instant k. The results from both theoretical analysis and simulation show that the presented scheme is effective and feasible and possesses good performance.
Modeling scramjet combustor flowfields with a grid adaptation scheme
NASA Technical Reports Server (NTRS)
Ramakrishnan, R.; Singh, D. J.
1994-01-01
The accurate description of flow features associated with the normal injection of fuel into supersonic primary flows is essential in the design of efficient engines for hypervelocity aerospace vehicles. The flow features in such injections are complex with multiple interactions between shocks and between shocks boundary layers. Numerical studies of perpendicular sonic N2 injection and mixing in a Mach 3.8 scramjet combustor environment are discussed. A dynamic grid adaptation procedure based on the equilibration of spring-mass system is employed to enhanced the description of the complicated flow features. Numerical results are compared with experimental measurements and indicate that the adaptation procedure enhances the capability of the modeling procedure to describe the flow features associated with scramjet combustor components.
Effects of incomplete adaptation and disturbance in adaptive control.
NASA Technical Reports Server (NTRS)
Lindorff, D. P.
1972-01-01
In this paper consideration is given to the effects of disturbance and incomplete parameter adaptation on the performance of adaptive control systems in which Liapunov theory is used in deriving the control law. A design equation for the bounded error is derived. It is further shown that parameters in the adaptive controller may not converge in the presence of disturbance unless the input signal has a rich enough frequency constant. Design examples are presented.
Adaptive Fuzzy Control of a Direct Drive Motor
NASA Technical Reports Server (NTRS)
Medina, E.; Kim, Y. T.; Akbaradeh-T., M. -R.
1997-01-01
This paper presents a state feedback adaptive control method for position and velocity control of a direct drive motor. The proposed control scheme allows for integrating heuristic knowledge with mathematical knowledge of a system. It performs well even when mathematical model of the system is poorly understood. The controller consists of an adaptive fuzzy controller and a supervisory controller. The supervisory controller requires only knowledge of the upper bound and lower bound of the system parameters. The fuzzy controller is based on fuzzy basis functions and states of the system. The adaptation law is derived based on the Lyapunov function which ensures that the state of the system asymptotically approaches zero. The proposed controller is applied to a direct drive motor with payload and parameter uncertainty, and the effectiveness is verified by simulation results.
Adaptive Fuzzy Control of a Direct Drive Motor: Experimental Aspects
NASA Technical Reports Server (NTRS)
Medina, E.; Akbarzadeh-T, M.-R.; Kim, Y. T.
1998-01-01
This paper presents a state feedback adaptive control method for position and velocity control of a direct drive motor. The proposed control scheme allows for integrating heuristic knowledge with mathematical knowledge of a system. It performs well even when mathematical model of the system is poorly understood. The controller consists of an adaptive fuzzy controller and a supervisory controller. The supervisory controller requires only knowledge of the upper bound and lower bound of the system parameters. The fuzzy controller is based on fuzzy basis functions and states of the system. The adaptation law is derived based on the Lyapunov function which ensures that the state of the system asymptotically approaches zero. The proposed controller is applied to a direct drive motor with payload and parameter uncertainty, and the effectiveness is experimentally verified. The real-time performance is compared with simulation results.
Keck adaptive optics: control subsystem
Brase, J.M.; An, J.; Avicola, K.
1996-03-08
Adaptive optics on the Keck 10 meter telescope will provide an unprecedented level of capability in high resolution ground based astronomical imaging. The system is designed to provide near diffraction limited imaging performance with Strehl {gt} 0.3 n median Keck seeing of r0 = 25 cm, T =10 msec at 500 nm wavelength. The system will be equipped with a 20 watt sodium laser guide star to provide nearly full sky coverage. The wavefront control subsystem is responsible for wavefront sensing and the control of the tip-tilt and deformable mirrors which actively correct atmospheric turbulence. The spatial sampling interval for the wavefront sensor and deformable mirror is de=0.56 m which gives us 349 actuators and 244 subapertures. This paper summarizes the wavefront control system and discusses particular issues in designing a wavefront controller for the Keck telescope.
Adaptive Controller Effects on Pilot Behavior
NASA Technical Reports Server (NTRS)
Trujillo, Anna C.; Gregory, Irene M.; Hempley, Lucas E.
2014-01-01
Adaptive control provides robustness and resilience for highly uncertain, and potentially unpredictable, flight dynamics characteristic. Some of the recent flight experiences of pilot-in-the-loop with an adaptive controller have exhibited unpredicted interactions. In retrospect, this is not surprising once it is realized that there are now two adaptive controllers interacting, the software adaptive control system and the pilot. An experiment was conducted to categorize these interactions on the pilot with an adaptive controller during control surface failures. One of the objectives of this experiment was to determine how the adaptation time of the controller affects pilots. The pitch and roll errors, and stick input increased for increasing adaptation time and during the segment when the adaptive controller was adapting. Not surprisingly, altitude, cross track and angle deviations, and vertical velocity also increase during the failure and then slowly return to pre-failure levels. Subjects may change their behavior even as an adaptive controller is adapting with additional stick inputs. Therefore, the adaptive controller should adapt as fast as possible to minimize flight track errors. This will minimize undesirable interactions between the pilot and the adaptive controller and maintain maneuvering precision.
Welding Adaptive Functions Performed Through Infrared (IR) Simplified Vision Schemes
NASA Astrophysics Data System (ADS)
Begin, Ghlslain; Boillot, Jean-Paul
1984-02-01
An ideal integrated robotic welding system should incorporate off-line programmation with the possibility of real time modifications of a given welding programme. Off-line programmation makes possible the optimization of the various sequences of a programme by simulation and therefore promotes increased welding station duty cycle. Real time modifications of a given programme, generated either by an off-line programmation scheme or by a learn mode on a first piece of a series, are essential because on many occasions, the cumulative dimensional tolerances and the distorsions associated with the process, build up a misfit beetween the programmed welding path and the real joint to be welded, to the extent that welding defects occur.
Kamwa, I.; Grondin, R. )
1992-04-01
Real-time measurements of voltage phasor and local frequency deviation find applications in computer-based relaying, static state estimation, disturbance monitoring and control. This paper proposes two learning schemes for fast estimation of these basic quantities. We attacked the problem from a system identification perspective, in opposition to the well-established Extended Kalman Filtering (EKF) technique. It is shown that, from a simple non-linear model of the system voltage which involves only two parameters, the Recursive Least Squares (RLS) and the Least Means Squares (LMS) algorithms can each provide dynamic estimates of the voltage phasor. The finite derivative of the phase deviation, followed by a moving-average filter, then leads to the local frequency deviation. A constant forgetting factor included in these algorithms provides both fast adaptation in time-varying situations and good smoothing of the estimates when necessary.
Adaptive regularized scheme for remote sensing image fusion
NASA Astrophysics Data System (ADS)
Tang, Sizhang; Shen, Chaomin; Zhang, Guixu
2016-06-01
We propose an adaptive regularized algorithm for remote sensing image fusion based on variational methods. In the algorithm, we integrate the inputs using a "grey world" assumption to achieve visual uniformity. We propose a fusion operator that can automatically select the total variation (TV)-L1 term for edges and L2-terms for non-edges. To implement our algorithm, we use the steepest descent method to solve the corresponding Euler-Lagrange equation. Experimental results show that the proposed algorithm achieves remarkable results.
Adaptive control of Space Station during nominal operations with CMGs. [Control Moment Gyroscopes
NASA Technical Reports Server (NTRS)
Bishop, R. H.; Paynter, S. J.; Sunkel, J. W.
1991-01-01
An adaptive control approach is investigated for the Space Station. The main components of the adaptive controller are the parameter identification scheme, the control gain calculation, and the control law. The control law is the Space Station baseline control law. The control gain calculation is based on linear quadratic regulator theory with eigenvalue placement in a vertical strip. The parameter identification scheme is a real-time recursive extended Kalman filter which estimates the inertias and also provides an estimate of the unmodeled disturbances due to the aerodynamic torques and to the nonlinear effects. An analysis of the inertia estimation problem suggests that it is possible to compute accurate estimates of the Space Station inertias during nominal CMG (control moment gyro) operations. The closed-loop adaptive control law is shown to be capable of stabilizing the Space Station after large inertia changes. Results are presented for the pitch axis.
Design of adaptive steganographic schemes for digital images
NASA Astrophysics Data System (ADS)
Filler, Tomás; Fridrich, Jessica
2011-02-01
Most steganographic schemes for real digital media embed messages by minimizing a suitably defined distortion function. In practice, this is often realized by syndrome codes which offer near-optimal rate-distortion performance. However, the distortion functions are designed heuristically and the resulting steganographic algorithms are thus suboptimal. In this paper, we present a practical framework for optimizing the parameters of additive distortion functions to minimize statistical detectability. We apply the framework to digital images in both spatial and DCT domain by first defining a rich parametric model which assigns a cost of making a change at every cover element based on its neighborhood. Then, we present a practical method for optimizing the parameters with respect to a chosen detection metric and feature space. We show that the size of the margin between support vectors in soft-margin SVMs leads to a fast detection metric and that methods minimizing the margin tend to be more secure w.r.t. blind steganalysis. The parameters obtained by the Nelder-Mead simplex-reflection algorithm for spatial and DCT-domain images are presented and the new embedding methods are tested by blind steganalyzers utilizing various feature sets. Experimental results show that as few as 80 images are sufficient for obtaining good candidates for parameters of the cost model, which allows us to speed up the parameter search.
Adaptive Covariance Inflation in a Multi-Resolution Assimilation Scheme
NASA Astrophysics Data System (ADS)
Hickmann, K. S.; Godinez, H. C.
2015-12-01
When forecasts are performed using modern data assimilation methods observation and model error can be scaledependent. During data assimilation the blending of error across scales can result in model divergence since largeerrors at one scale can be propagated across scales during the analysis step. Wavelet based multi-resolution analysiscan be used to separate scales in model and observations during the application of an ensemble Kalman filter. However,this separation is done at the cost of implementing an ensemble Kalman filter at each scale. This presents problemswhen tuning the covariance inflation parameter at each scale. We present a method to adaptively tune a scale dependentcovariance inflation vector based on balancing the covariance of the innovation and the covariance of observations ofthe ensemble. Our methods are demonstrated on a one dimensional Kuramoto-Sivashinsky (K-S) model known todemonstrate non-linear interactions between scales.
Internal Models in Sensorimotor Integration: Perspectives from Adaptive Control Theory
Tin, Chung; Poon, Chi-Sang
2007-01-01
Internal model and adaptive control are empirical and mathematical paradigms that have evolved separately to describe learning control processes in brain systems and engineering systems, respectively. This paper presents a comprehensive appraisal of the correlation between these paradigms with a view to forging a unified theoretical framework that may benefit both disciplines. It is suggested that the classic equilibrium-point theory of impedance control of arm movement is analogous to continuous gain-scheduling or high-gain adaptive control within or across movement trials, respectively, and that the recently proposed inverse internal model is akin to adaptive sliding control originally for robotic manipulator applications. Modular internal models architecture for multiple motor tasks is a form of multi-model adaptive control. Stochastic methods such as generalized predictive control, reinforcement learning, Bayesian learning and Hebbian feedback covariance learning are reviewed and their possible relevance to motor control is discussed. Possible applicability of Luenberger observer and extended Kalman filter to state estimation problems such as sensorimotor prediction or the resolution of vestibular sensory ambiguity is also discussed. The important role played by vestibular system identification in postural control suggests an indirect adaptive control scheme whereby system states or parameters are explicitly estimated prior to the implementation of control. This interdisciplinary framework should facilitate the experimental elucidation of the mechanisms of internal model in sensorimotor systems and the reverse engineering of such neural mechanisms into novel brain-inspired adaptive control paradigms in future. PMID:16135881
A Hybrid Nonlinear Control Scheme for Active Magnetic Bearings
NASA Technical Reports Server (NTRS)
Xia, F.; Albritton, N. G.; Hung, J. Y.; Nelms, R. M.
1996-01-01
A nonlinear control scheme for active magnetic bearings is presented in this work. Magnet winding currents are chosen as control inputs for the electromechanical dynamics, which are linearized using feedback linearization. Then, the desired magnet currents are enforced by sliding mode control design of the electromagnetic dynamics. The overall control scheme is described by a multiple loop block diagram; the approach also falls in the class of nonlinear controls that are collectively known as the 'integrator backstepping' method. Control system hardware and new switching power electronics for implementing the controller are described. Various experiments and simulation results are presented to demonstrate the concepts' potentials.
Adaptive Flight Control for Aircraft Safety Enhancements
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.; Gregory, Irene M.; Joshi, Suresh M.
2008-01-01
This poster presents the current adaptive control research being conducted at NASA ARC and LaRC in support of the Integrated Resilient Aircraft Control (IRAC) project. The technique "Approximate Stability Margin Analysis of Hybrid Direct-Indirect Adaptive Control" has been developed at NASA ARC to address the needs for stability margin metrics for adaptive control that potentially enables future V&V of adaptive systems. The technique "Direct Adaptive Control With Unknown Actuator Failures" is developed at NASA LaRC to deal with unknown actuator failures. The technique "Adaptive Control with Adaptive Pilot Element" is being researched at NASA LaRC to investigate the effects of pilot interactions with adaptive flight control that can have implications of stability and performance.
Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments
Smith, Alex M. C.; Yang, Chenguang; Ma, Hongbin; Culverhouse, Phil; Cangelosi, Angelo; Burdet, Etienne
2015-01-01
In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing. PMID:26029916
Novel hybrid adaptive controller for manipulation in complex perturbation environments.
Smith, Alex M C; Yang, Chenguang; Ma, Hongbin; Culverhouse, Phil; Cangelosi, Angelo; Burdet, Etienne
2015-01-01
In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing. PMID:26029916
Engine identification for adaptive control
NASA Technical Reports Server (NTRS)
Leonard, R. G.; Arnett, E. M.
1980-01-01
An attempt to obtain a dynamic model for a turbofan gas turbine engine for the purpose of adaptive control is described. The requirements for adaptive control indicate that a dynamic model should be identified from data sampled during engine operation. The dynamic model identified was of the form of linear differential equations with time varying coefficients. A turbine engine is, however, a highly nonlinear system, so the identified model would be valid only over a small area near the operating point, thus requiring frequent updating of the coefficients in the model. Therefore it is necessary that the identifier use only recent information to perform its function. The identifier selected minimized the square of the equation errors. Known linear systems were used to test the characteristics of the identifier. It was found that the performance was dependent on the number of data points used in the computations and upon the time interval over which the data points were obtained. Preliminary results using an engine deck for the quiet, clean, shorthaul experimental engine indicate that the identified model predicts the engine motion well when there is sufficient dynamic information, that is when the engine is in transient operation.
Adaptive control with an expert system based supervisory level. Thesis
NASA Technical Reports Server (NTRS)
Sullivan, Gerald A.
1991-01-01
Adaptive control is presently one of the methods available which may be used to control plants with poorly modelled dynamics or time varying dynamics. Although many variations of adaptive controllers exist, a common characteristic of all adaptive control schemes, is that input/output measurements from the plant are used to adjust a control law in an on-line fashion. Ideally the adjustment mechanism of the adaptive controller is able to learn enough about the dynamics of the plant from input/output measurements to effectively control the plant. In practice, problems such as measurement noise, controller saturation, and incorrect model order, to name a few, may prevent proper adjustment of the controller and poor performance or instability result. In this work we set out to avoid the inadequacies of procedurally implemented safety nets, by introducing a two level control scheme in which an expert system based 'supervisor' at the upper level provides all the safety net functions for an adaptive controller at the lower level. The expert system is based on a shell called IPEX, (Interactive Process EXpert), that we developed specifically for the diagnosis and treatment of dynamic systems. Some of the more important functions that the IPEX system provides are: (1) temporal reasoning; (2) planning of diagnostic activities; and (3) interactive diagnosis. Also, because knowledge and control logic are separate, the incorporation of new diagnostic and treatment knowledge is relatively simple. We note that the flexibility available in the system to express diagnostic and treatment knowledge, allows much greater functionality than could ever be reasonably expected from procedural implementations of safety nets. The remainder of this chapter is divided into three sections. In section 1.1 we give a detailed review of the literature in the area of supervisory systems for adaptive controllers. In particular, we describe the evolution of safety nets from simple ad hoc techniques, up
NASA Astrophysics Data System (ADS)
Benaskeur, Abder R.; Roy, Jean
2001-08-01
Sensor Management (SM) has to do with how to best manage, coordinate and organize the use of sensing resources in a manner that synergistically improves the process of data fusion. Based on the contextual information, SM develops options for collecting further information, allocates and directs the sensors towards the achievement of the mission goals and/or tunes the parameters for the realtime improvement of the effectiveness of the sensing process. Conscious of the important role that SM has to play in modern data fusion systems, we are currently studying advanced SM Concepts that would help increase the survivability of the current Halifax and Iroquois Class ships, as well as their possible future upgrades. For this purpose, a hierarchical scheme has been proposed for data fusion and resource management adaptation, based on the control theory and within the process refinement paradigm of the JDL data fusion model, and taking into account the multi-agent model put forward by the SASS Group for the situation analysis process. The novelty of this work lies in the unified framework that has been defined for tackling the adaptation of both the fusion process and the sensor/weapon management.
Adaptive source rate control for wireless video conferencing
NASA Astrophysics Data System (ADS)
Liu, Hang; El Zarki, Magda
1997-12-01
Hybrid ARQ schemes can yield much better throughput and reliability than static FEC schemes for the transmission of data over time-varying wireless channels. However these schemes result in higher delay. They adapt to the varying channel conditions by retransmitting erroneous packets, this results in variable effective data rates for current PCS networks because the channel bandwidth is constant. Hybrid ARQ schemes are currently being proposed as the error control schemes for real-time video transmission. The standardization process is on-going in ITU, MPEG-4 and wireless ATM forum. The important issue is how to ensure low delay while taking advantage of the high throughput and reliability that these schemes provide for. In this paper we propose an adaptive source rate control (ASRC) protocol which can work together with the hybrid ARQ error control schemes to achieve efficient transmission of real-time video with low delay and high reliability. The ASRC scheme adjusts the source rate based on the channel conditions, the transport buffer occupancy and the delay constraints. It optimizes the video quality by dynamically changing both the number of the forced update (intracoded) macroblocks and the quantization scale used in a frame. The number of the forced update macroblocks used in a frame is first adjusted according to the allocated source rate. This reduces the fluctuation of the quantization scale with the change in the channel conditions during encoding so that the uniformity of the video quality is improved. The simulation results show that the proposed ASRC protocol performs very well for both slow fading and fast fading channels.
Dual-arm manipulators with adaptive control
NASA Technical Reports Server (NTRS)
Seraji, Homayoun (Inventor)
1991-01-01
The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.
A novel robust speed controller scheme for PMBLDC motor.
Thirusakthimurugan, P; Dananjayan, P
2007-10-01
The design of speed and position controllers for permanent magnet brushless DC motor (PMBLDC) drive remains as an open problem in the field of motor drives. A precise speed control of PMBLDC motor is complex due to nonlinear coupling between winding currents and rotor speed. In addition, the nonlinearity present in the developed torque due to magnetic saturation of the rotor further complicates this issue. This paper presents a novel control scheme to the conventional PMBLDC motor drive, which aims at improving the robustness by complete decoupling of the design besides minimizing the mutual influence among the speed and current control loops. The interesting feature of this robust control scheme is its suitability for both static and dynamic aspects. The effectiveness of the proposed robust speed control scheme is verified through simulations. PMID:17544426
Simple method for model reference adaptive control
NASA Technical Reports Server (NTRS)
Seraji, H.
1989-01-01
A simple method is presented for combined signal synthesis and parameter adaptation within the framework of model reference adaptive control theory. The results are obtained using a simple derivation based on an improved Liapunov function.
NASA Astrophysics Data System (ADS)
Shi, Yu; Liang, Long; Ge, Hai-Wen; Reitz, Rolf D.
2010-03-01
Acceleration of the chemistry solver for engine combustion is of much interest due to the fact that in practical engine simulations extensive computational time is spent solving the fuel oxidation and emission formation chemistry. A dynamic adaptive chemistry (DAC) scheme based on a directed relation graph error propagation (DRGEP) method has been applied to study homogeneous charge compression ignition (HCCI) engine combustion with detailed chemistry (over 500 species) previously using an R-value-based breadth-first search (RBFS) algorithm, which significantly reduced computational times (by as much as 30-fold). The present paper extends the use of this on-the-fly kinetic mechanism reduction scheme to model combustion in direct-injection (DI) engines. It was found that the DAC scheme becomes less efficient when applied to DI engine simulations using a kinetic mechanism of relatively small size and the accuracy of the original DAC scheme decreases for conventional non-premixed combustion engine. The present study also focuses on determination of search-initiating species, involvement of the NOx chemistry, selection of a proper error tolerance, as well as treatment of the interaction of chemical heat release and the fuel spray. Both the DAC schemes were integrated into the ERC KIVA-3v2 code, and simulations were conducted to compare the two schemes. In general, the present DAC scheme has better efficiency and similar accuracy compared to the previous DAC scheme. The efficiency depends on the size of the chemical kinetics mechanism used and the engine operating conditions. For cases using a small n-heptane kinetic mechanism of 34 species, 30% of the computational time is saved, and 50% for a larger n-heptane kinetic mechanism of 61 species. The paper also demonstrates that by combining the present DAC scheme with an adaptive multi-grid chemistry (AMC) solver, it is feasible to simulate a direct-injection engine using a detailed n-heptane mechanism with 543 species
Statistical Physics for Adaptive Distributed Control
NASA Technical Reports Server (NTRS)
Wolpert, David H.
2005-01-01
A viewgraph presentation on statistical physics for distributed adaptive control is shown. The topics include: 1) The Golden Rule; 2) Advantages; 3) Roadmap; 4) What is Distributed Control? 5) Review of Information Theory; 6) Iterative Distributed Control; 7) Minimizing L(q) Via Gradient Descent; and 8) Adaptive Distributed Control.
A Self-Adaptive Behavior-Aware Recruitment Scheme for Participatory Sensing.
Zeng, Yuanyuan; Li, Deshi
2015-01-01
Participatory sensing services utilizing the abundant social participants with sensor-enabled handheld smart device resources are gaining high interest nowadays. One of the challenges faced is the recruitment of participants by fully utilizing their daily activity behavior with self-adaptiveness toward the realistic application scenarios. In the paper, we propose a self-adaptive behavior-aware recruitment scheme for participatory sensing. People are assumed to join the sensing tasks along with their daily activity without pre-defined ground truth or any instructions. The scheme is proposed to model the tempo-spatial behavior and data quality rating to select participants for participatory sensing campaign. Based on this, the recruitment is formulated as a linear programming problem by considering tempo-spatial coverage, data quality, and budget. The scheme enables one to check and adjust the recruitment strategy adaptively according to application scenarios. The evaluations show that our scheme provides efficient sensing performance as stability, low-cost, tempo-spatial correlation and self-adaptiveness. PMID:26389910
A Self-Adaptive Behavior-Aware Recruitment Scheme for Participatory Sensing
Zeng, Yuanyuan; Li, Deshi
2015-01-01
Participatory sensing services utilizing the abundant social participants with sensor-enabled handheld smart device resources are gaining high interest nowadays. One of the challenges faced is the recruitment of participants by fully utilizing their daily activity behavior with self-adaptiveness toward the realistic application scenarios. In the paper, we propose a self-adaptive behavior-aware recruitment scheme for participatory sensing. People are assumed to join the sensing tasks along with their daily activity without pre-defined ground truth or any instructions. The scheme is proposed to model the tempo-spatial behavior and data quality rating to select participants for participatory sensing campaign. Based on this, the recruitment is formulated as a linear programming problem by considering tempo-spatial coverage, data quality, and budget. The scheme enables one to check and adjust the recruitment strategy adaptively according to application scenarios. The evaluations show that our scheme provides efficient sensing performance as stability, low-cost, tempo-spatial correlation and self-adaptiveness. PMID:26389910
Flexible beam control using an adaptive truss
NASA Technical Reports Server (NTRS)
Warrington, Thomas J.; Horner, C. Garnett
1990-01-01
To demonstrate the feasibility of adaptive trusses for vibration suppression, a 12-ft-long beam is attached to a single cell of an adaptive truss which has three active battens. With the base of the adaptive truss attached to the laboratory frame, the measured strain of the vibrating beam shows the adaptive truss to be very effective in suppressing vibration when subjected to initial conditions. Control is accomplished by a PC/XT computer that implements an LQR-designed control law.
Flight Test Approach to Adaptive Control Research
NASA Technical Reports Server (NTRS)
Pavlock, Kate Maureen; Less, James L.; Larson, David Nils
2011-01-01
The National Aeronautics and Space Administration s Dryden Flight Research Center completed flight testing of adaptive controls research on a full-scale F-18 testbed. The validation of adaptive controls has the potential to enhance safety in the presence of adverse conditions such as structural damage or control surface failures. This paper describes the research interface architecture, risk mitigations, flight test approach and lessons learned of adaptive controls research.
Performance improvement of robots using a learning control scheme
NASA Technical Reports Server (NTRS)
Krishna, Ramuhalli; Chiang, Pen-Tai; Yang, Jackson C. S.
1987-01-01
Many applications of robots require that the same task be repeated a number of times. In such applications, the errors associated with one cycle are also repeated every cycle of the operation. An off-line learning control scheme is used here to modify the command function which would result in smaller errors in the next operation. The learning scheme is based on a knowledge of the errors and error rates associated with each cycle. Necessary conditions for the iterative scheme to converge to zero errors are derived analytically considering a second order servosystem model. Computer simulations show that the errors are reduced at a faster rate if the error rate is included in the iteration scheme. The results also indicate that the scheme may increase the magnitude of errors if the rate information is not included in the iteration scheme. Modification of the command input using a phase and gain adjustment is also proposed to reduce the errors with one attempt. The scheme is then applied to a computer model of a robot system similar to PUMA 560. Improved performance of the robot is shown by considering various cases of trajectory tracing. The scheme can be successfully used to improve the performance of actual robots within the limitations of the repeatability and noise characteristics of the robot.
Adaptive MFR parameter control: fixed vs. variable probabilities of detection
NASA Astrophysics Data System (ADS)
Boers, Yvo; Driessen, Hans; Zwaga, Jitse
2005-09-01
In this paper an efficient adaptive parameter control scheme for Multi Function Radar (MFR) is used. This scheme has been introduced in.5 The scheme has been designed in such a way that it meets constraints on specific quantities that are relevant for target tracking while minimizing the energy spent. It is shown here, that this optimal scheme leads to a considerable variation of the realized detection probability, even within a single scenario. We also show that constraining or fixing the probability of detection to a certain predefined value leads to a considerable increase in the energy spent on the target. This holds even when one optimizes the fixed probability of detection. The bottom line message is that the detection probability is not a design parameter by itself, but merely the product of an optimal schedule.
NASA Astrophysics Data System (ADS)
Miyasato, Yoshihiko
The problem of constructing model reference adaptive H∞ control for distributed parameters systems of hyperbolic type is considered in this paper. Distributed parameters systems are infinite dimensional processes, but the proposed control scheme is constructed from finite dimensional controllers. The stabilizing control signal is added to regulate the effect of spill-over terms, and it is derived as a solution of certain H∞ control problem where spill-overs are considered as external disturbances to the process.
Universal scheme for indirect quantum control
NASA Astrophysics Data System (ADS)
Layden, David; Martín-Martínez, Eduardo; Kempf, Achim
2016-04-01
We consider a bipartite quantum object, composed of a quantum system and a quantum actuator which is periodically reset. We show that the reduced dynamics of the system approaches unitarity as the reset frequency of the actuator is increased. This phenomenon arises because quantum systems interacting for a short time can impact each other faster than they can become significantly entangled. In the high reset-frequency limit, the effective Hamiltonian describing the system's unitary evolution depends on the state to which the actuator is reset. This makes it possible to indirectly implement a continuous family of effective Hamiltonians on one part of a bipartite quantum object, thereby reducing the problem of indirect control (via a quantum actuator) to the well-studied one of direct quantum control.
NASA Technical Reports Server (NTRS)
Patre, Parag; Joshi, Suresh M.
2011-01-01
Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.
Adaptive, predictive controller for optimal process control
Brown, S.K.; Baum, C.C.; Bowling, P.S.; Buescher, K.L.; Hanagandi, V.M.; Hinde, R.F. Jr.; Jones, R.D.; Parkinson, W.J.
1995-12-01
One can derive a model for use in a Model Predictive Controller (MPC) from first principles or from experimental data. Until recently, both methods failed for all but the simplest processes. First principles are almost always incomplete and fitting to experimental data fails for dimensions greater than one as well as for non-linear cases. Several authors have suggested the use of a neural network to fit the experimental data to a multi-dimensional and/or non-linear model. Most networks, however, use simple sigmoid functions and backpropagation for fitting. Training of these networks generally requires large amounts of data and, consequently, very long training times. In 1993 we reported on the tuning and optimization of a negative ion source using a special neural network[2]. One of the properties of this network (CNLSnet), a modified radial basis function network, is that it is able to fit data with few basis functions. Another is that its training is linear resulting in guaranteed convergence and rapid training. We found the training to be rapid enough to support real-time control. This work has been extended to incorporate this network into an MPC using the model built by the network for predictive control. This controller has shown some remarkable capabilities in such non-linear applications as continuous stirred exothermic tank reactors and high-purity fractional distillation columns[3]. The controller is able not only to build an appropriate model from operating data but also to thin the network continuously so that the model adapts to changing plant conditions. The controller is discussed as well as its possible use in various of the difficult control problems that face this community.
Model-adaptive hybrid dynamic control for robotic assembly tasks
Austin, D.J.; McCarragher, B.J.
1999-10-01
A new task-level adaptive controller is presented for the hybrid dynamic control of robotic assembly tasks. Using a hybrid dynamic model of the assembly task, velocity constraints are derived from which satisfactory velocity commands are obtained. Due to modeling errors and parametric uncertainties, the velocity commands may be erroneous and may result in suboptimal performance. Task-level adaptive control schemes, based on the occurrence of discrete events, are used to change the model parameters from which the velocity commands are determined. Two adaptive schemes are presented: the first is based on intuitive reasoning about the vector spaces involved whereas the second uses a search region that is reduced with each iteration. For the first adaptation law, asymptotic convergence to the correct model parameters is proven except for one case. This weakness motivated the development of the second adaptation law, for which asymptotic convergence is proven in all cases. Automated control of a peg-in-hole assembly task is given as an example, and simulations and experiments for this task are presented. These results demonstrate the success of the method and also indicate properties for rapid convergence.
Adaptive Failure Compensation for Aircraft Tracking Control Using Engine Differential Based Model
NASA Technical Reports Server (NTRS)
Liu, Yu; Tang, Xidong; Tao, Gang; Joshi, Suresh M.
2006-01-01
An aircraft model that incorporates independently adjustable engine throttles and ailerons is employed to develop an adaptive control scheme in the presence of actuator failures. This model captures the key features of aircraft flight dynamics when in the engine differential mode. Based on this model an adaptive feedback control scheme for asymptotic state tracking is developed and applied to a transport aircraft model in the presence of two types of failures during operation, rudder failure and aileron failure. Simulation results are presented to demonstrate the adaptive failure compensation scheme.
Energy-saving technology of vector controlled induction motor based on the adaptive neuro-controller
NASA Astrophysics Data System (ADS)
Engel, E.; Kovalev, I. V.; Karandeev, D.
2015-10-01
The ongoing evolution of the power system towards a Smart Grid implies an important role of intelligent technologies, but poses strict requirements on their control schemes to preserve stability and controllability. This paper presents the adaptive neuro-controller for the vector control of induction motor within Smart Gird. The validity and effectiveness of the proposed energy-saving technology of vector controlled induction motor based on adaptive neuro-controller are verified by simulation results at different operating conditions over a wide speed range of induction motor.
Attitude control schemes for the first recovery mission of India
NASA Astrophysics Data System (ADS)
Philip, N. K.; Chinnaponnu, V.; Krishnakumar, E.; Natarajan, P.; Agrawal, V. K.; Malik, N. K.
2009-01-01
This paper describes the attitude control schemes for the various phases such as acquisition, on-orbit, orbit maneuver, de-boost maneuvers and coast phases of the India's first recovery mission Space Capsule Recovery Experiment-I (SRE-1). During the on-orbit phase, the SRE was configured to point the negative roll axis to Sun. The attitude referencing of SRE-1 was based on dry tuned gyros with updates from the attitude determined using on-board Sun sensors and magnetometer. For attitude acquisition, attitude maneuvers and for providing the velocity corrections for de-orbiting operations; a set of eight thrusters grouped in functionally redundant blocks were used. The control scheme with thrusters was based on proportional derivative controller with a modulator. In order to ensure micro-gravity environment during the on-orbit payload operations a linear quadratic regulator (LQR) based control scheme was designed to drive an orthogonal configuration of magnetic torquers which in turn produced three-axis control torque with the interaction of Earth's magnetic field. Proportional derivative control scheme with modulator was designed to track the steering commands during the velocity reduction as well as during the coasting phase of the de-orbiting operations. A novel thruster failure detection, isolation and reconfiguration scheme implemented on-board for the de-orbiting phase is also discussed in this paper.
NASA Astrophysics Data System (ADS)
Chen, Zhang; Liang, Bin; Zhang, Tao
2016-05-01
When teleoperations are implemented in the constrained environment, the lack of environment information would lead to contacts and undesired excessive contact forces, which are more evident with the existence of time delays. In this paper, a hybrid compliant bilateral controller is proposed to deal with this problem. The controller adopts a self-adjusting selecting scheme to divide the subspaces online. The master and slave manipulators are synchronized in the position subspace through an adaptive bilateral control scheme. At the same time, the slave manipulator is controlled by a local sliding mode impedance controller in order to achieve the desired compliant motion when contacting with the environment. Theoretical analysis proves the stability of the hybrid bilateral controller and concludes the transient performance of the teleoperators. Simulations are carried out to verify the effectiveness of the proposed approach. The results show that the control goals are all achieved.
Adaptive fuzzy-neural-network control for maglev transportation system.
Wai, Rong-Jong; Lee, Jeng-Dao
2008-01-01
A magnetic-levitation (maglev) transportation system including levitation and propulsion control is a subject of considerable scientific interest because of highly nonlinear and unstable behaviors. In this paper, the dynamic model of a maglev transportation system including levitated electromagnets and a propulsive linear induction motor (LIM) based on the concepts of mechanical geometry and motion dynamics is developed first. Then, a model-based sliding-mode control (SMC) strategy is introduced. In order to alleviate chattering phenomena caused by the inappropriate selection of uncertainty bound, a simple bound estimation algorithm is embedded in the SMC strategy to form an adaptive sliding-mode control (ASMC) scheme. However, this estimation algorithm is always a positive value so that tracking errors introduced by any uncertainty will cause the estimated bound increase even to infinity with time. Therefore, it further designs an adaptive fuzzy-neural-network control (AFNNC) scheme by imitating the SMC strategy for the maglev transportation system. In the model-free AFNNC, online learning algorithms are designed to cope with the problem of chattering phenomena caused by the sign action in SMC design, and to ensure the stability of the controlled system without the requirement of auxiliary compensated controllers despite the existence of uncertainties. The outputs of the AFNNC scheme can be directly supplied to the electromagnets and LIM without complicated control transformations for relaxing strict constrains in conventional model-based control methodologies. The effectiveness of the proposed control schemes for the maglev transportation system is verified by numerical simulations, and the superiority of the AFNNC scheme is indicated in comparison with the SMC and ASMC strategies. PMID:18269938
Adaptive QoS Class Allocation Schemes in Multi-Domain Path-Based Networks
NASA Astrophysics Data System (ADS)
Ogino, Nagao; Nakamura, Hajime
MPLS-based path technology shows promise as a means of realizing reliable IP networks. Real-time services such as VoIP and video-conference supplied through a multi-domain MPLS network must be able to guarantee end-to-end QoS of the inter-domain paths. Thus, it is important to allocate an appropriate QoS class to the inter-domain paths in each domain traversed by the inter-domain paths. Because each domain has its own policy for QoS class allocation, it is necessary to adaptively allocate the optimum QoS class based on estimation of the QoS class allocation policies in other domains. This paper proposes two kinds of adaptive QoS class allocation schemes, assuming that the arriving inter-domain path requests include the number of downstream domains traversed by the inter-domain paths and the remaining QoS value toward the destination nodes. First, a measurement-based scheme, based on measurement of the loss rates of inter-domain paths in the downstream domains, is proposed. This scheme estimates the QoS class allocation policies in the downstream domains, using the measured loss rates of path requests. Second, a state-dependent type scheme, based on measurement of the arrival rates of path requests in addition to the loss rates of paths in the downstream domains, is also proposed. This scheme allows an appropriate QoS class to be allocated according to the domain state. This paper proposes an application of the Markov decision theory to the modeling of state-dependent type scheme. The performances of the proposed schemes are evaluated and compared with those of the other less complicated non-adaptive schemes using a computer simulation. The results of the comparison reveal that the proposed schemes can adaptively increase the number of inter-domain paths accommodated in the considered domain, even when the QoS class allocation policies change in the other domains and the arrival pattern of path requests varies in the considered domain.
NASA Astrophysics Data System (ADS)
Teyssier, Romain; Fromang, Sébastien; Dormy, Emmanuel
2006-10-01
We propose to extend the well-known MUSCL-Hancock scheme for Euler equations to the induction equation modeling the magnetic field evolution in kinematic dynamo problems. The scheme is based on an integral form of the underlying conservation law which, in our formulation, results in a “finite-surface” scheme for the induction equation. This naturally leads to the well-known “constrained transport” method, with additional continuity requirement on the magnetic field representation. The second ingredient in the MUSCL scheme is the predictor step that ensures second order accuracy both in space and time. We explore specific constraints that the mathematical properties of the induction equations place on this predictor step, showing that three possible variants can be considered. We show that the most aggressive formulations (referred to as C-MUSCL and U-MUSCL) reach the same level of accuracy as the other one (referred to as Runge Kutta), at a lower computational cost. More interestingly, these two schemes are compatible with the adaptive mesh refinement (AMR) framework. It has been implemented in the AMR code RAMSES. It offers a novel and efficient implementation of a second order scheme for the induction equation. We have tested it by solving two kinematic dynamo problems in the low diffusion limit. The construction of this scheme for the induction equation constitutes a step towards solving the full MHD set of equations using an extension of our current methodology.
Research in digital adaptive flight controllers
NASA Technical Reports Server (NTRS)
Kaufman, H.
1976-01-01
A design study of adaptive control logic suitable for implementation in modern airborne digital flight computers was conducted. Both explicit controllers which directly utilize parameter identification and implicit controllers which do not require identification were considered. Extensive analytical and simulation efforts resulted in the recommendation of two explicit digital adaptive flight controllers. Interface weighted least squares estimation procedures with control logic were developed using either optimal regulator theory or with control logic based upon single stage performance indices.
Reactivity Control Schemes for Fast Spectrum Space Nuclear Reactors
Craft, Aaron E.; King, Jeffrey C.
2008-01-21
Several different reactivity control schemes are considered for future space nuclear reactor power systems. Each of these control schemes uses a combination of boron carbide absorbers and/or beryllium oxide reflectors to achieve sufficient reactivity swing to keep the reactor subcritical during launch and to provide sufficient excess reactivity to operate the reactor over its expected 7-15 year lifetime. The size and shape of the control system directly impacts the size and mass of the space reactor's reflector and shadow shield, leading to a tradeoff between reactivity swing and total system mass. This paper presents a trade study of drum, shutter, and petal control schemes based on reactivity swing and mass effects for a representative fast-spectrum, gas-cooled reactor. For each control scheme, the dimensions and composition of the core are constant, and the reflector is sized to provide $5 of cold-clean excess reactivity with each configuration in its most reactive state. The advantages and disadvantages of each configuration are discussed, along with optimization techniques and novel geometric approaches for each scheme.
Survey of adaptive control using Liapunov design
NASA Technical Reports Server (NTRS)
Lindorff, D. P.; Carroll, R. L.
1973-01-01
A survey of the literature in which Liapunov's second method is used in determining the control law is presented, with emphasis placed on the model-tracking adaptive control problem. Forty references are listed. Following a brief tutorial exposition of the adaptive control problem, the techniques for treating reduction of order, disturbance and time-varying parameters, multivariable systems, identification, and adaptive observers are discussed. The method is critically evaluated, particularly with respect to possibilities for application.
A control scheme for trajectory tracking of robot manipulators
NASA Technical Reports Server (NTRS)
Tarokh, M.; Seraji, H.
1988-01-01
The authors put forward a simple scheme for multivariable control of robot manipulators. The scheme is composed of an inner-loop stabilizing controller and an outerloop tracking controller. The inner loop utilizes a multivariable PD (proportional differential) controller to stabilize the robot by placing the poles at some desired locations. The outer loop uses a multivariable PID (proportional integral differential) controller to achieve input-output decoupling and trajectory tracking. The gains of the PD and PID controllers are related directly to the linearized robot model by simple closed-form expressions. The controller gains are updated online to cope with variations in the robot model for gross motion and payload change. Alternatively, the use of high-gain controllers for gross motion and payload change are discussed.
Adaptive control of large space structures using recursive lattice filters
NASA Technical Reports Server (NTRS)
Goglia, G. L.
1985-01-01
The use of recursive lattice filters for identification and adaptive control of large space structures was studied. Lattice filters are used widely in the areas of speech and signal processing. Herein, they are used to identify the structural dynamics model of the flexible structures. This identified model is then used for adaptive control. Before the identified model and control laws are integrated, the identified model is passed through a series of validation procedures and only when the model passes these validation procedures control is engaged. This type of validation scheme prevents instability when the overall loop is closed. The results obtained from simulation were compared to those obtained from experiments. In this regard, the flexible beam and grid apparatus at the Aerospace Control Research Lab (ACRL) of NASA Langley Research Center were used as the principal candidates for carrying out the above tasks. Another important area of research, namely that of robust controller synthesis, was investigated using frequency domain multivariable controller synthesis methods.
Multi-dimensional upwind fluctuation splitting scheme with mesh adaption for hypersonic viscous flow
NASA Astrophysics Data System (ADS)
Wood, William Alfred, III
production is shown relative to DMFDSFV. Remarkably the fluctuation splitting scheme shows grid converged skin friction coefficients with only five points in the boundary layer for this case. A viscous Mach 17.6 (perfect gas) cylinder case demonstrates solution monotonicity and heat transfer capability with the fluctuation splitting scheme. While fluctuation splitting is recommended over DMFDSFV, the difference in performance between the schemes is not so great as to obsolete DMFDSFV. The second half of the dissertation develops a local, compact, anisotropic unstructured mesh adaption scheme in conjunction with the multi-dimensional upwind solver, exhibiting a characteristic alignment behavior for scalar problems. This alignment behavior stands in contrast to the curvature clustering nature of the local, anisotropic unstructured adaption strategy based upon a posteriori error estimation that is used for comparison. The characteristic alignment is most pronounced for linear advection, with reduced improvement seen for the more complex non-linear advection and advection-diffusion cases. The adaption strategy is extended to the two-dimensional and axisymmetric Navier-Stokes equations of motion through the concept of fluctuation minimization. The system test case for the adaption strategy is a sting mounted capsule at Mach-10 wind tunnel conditions, considered in both two-dimensional and axisymmetric configurations. For this complex flowfield the adaption results are disappointing since feature alignment does not emerge from the local operations. Aggressive adaption is shown to result in a loss of robustness for the solver, particularly in the bow shock/stagnation point interaction region. Reducing the adaption strength maintains solution robustness but fails to produce significant improvement in the surface heat transfer predictions.
Adaptive Controller Adaptation Time and Available Control Authority Effects on Piloting
NASA Technical Reports Server (NTRS)
Trujillo, Anna; Gregory, Irene
2013-01-01
Adaptive control is considered for highly uncertain, and potentially unpredictable, flight dynamics characteristic of adverse conditions. This experiment looked at how adaptive controller adaptation time to recover nominal aircraft dynamics affects pilots and how pilots want information about available control authority transmitted. Results indicate that an adaptive controller that takes three seconds to adapt helped pilots when looking at lateral and longitudinal errors. The controllability ratings improved with the adaptive controller, again the most for the three seconds adaptation time while workload decreased with the adaptive controller. The effects of the displays showing the percentage amount of available safe flight envelope used in the maneuver were dominated by the adaptation time. With the displays, the altitude error increased, controllability slightly decreased, and mental demand increased. Therefore, the displays did require some of the subjects resources but these negatives may be outweighed by pilots having more situation awareness of their aircraft.
Adaptive control: Myths and realities
NASA Technical Reports Server (NTRS)
Athans, M.; Valavani, L.
1984-01-01
It was found that all currently existing globally stable adaptive algorithms have three basic properties in common: positive realness of the error equation, square-integrability of the parameter adjustment law and, need for sufficient excitation for asymptotic parameter convergence. Of the three, the first property is of primary importance since it satisfies a sufficient condition for stabillity of the overall system, which is a baseline design objective. The second property has been instrumental in the proof of asymptotic error convergence to zero, while the third addresses the issue of parameter convergence. Positive-real error dynamics can be generated only if the relative degree (excess of poles over zeroes) of the process to be controlled is known exactly; this, in turn, implies perfect modeling. This and other assumptions, such as absence of nonminimum phase plant zeros on which the mathematical arguments are based, do not necessarily reflect properties of real systems. As a result, it is natural to inquire what happens to the designs under less than ideal assumptions. The issues arising from violation of the exact modeling assumption which is extremely restrictive in practice and impacts the most important system property, stability, are discussed.
An Adaptive Handover Prediction Scheme for Seamless Mobility Based Wireless Networks
Safa Sadiq, Ali; Fisal, Norsheila Binti; Ghafoor, Kayhan Zrar; Lloret, Jaime
2014-01-01
We propose an adaptive handover prediction (AHP) scheme for seamless mobility based wireless networks. That is, the AHP scheme incorporates fuzzy logic with AP prediction process in order to lend cognitive capability to handover decision making. Selection metrics, including received signal strength, mobile node relative direction towards the access points in the vicinity, and access point load, are collected and considered inputs of the fuzzy decision making system in order to select the best preferable AP around WLANs. The obtained handover decision which is based on the calculated quality cost using fuzzy inference system is also based on adaptable coefficients instead of fixed coefficients. In other words, the mean and the standard deviation of the normalized network prediction metrics of fuzzy inference system, which are collected from available WLANs are obtained adaptively. Accordingly, they are applied as statistical information to adjust or adapt the coefficients of membership functions. In addition, we propose an adjustable weight vector concept for input metrics in order to cope with the continuous, unpredictable variation in their membership degrees. Furthermore, handover decisions are performed in each MN independently after knowing RSS, direction toward APs, and AP load. Finally, performance evaluation of the proposed scheme shows its superiority compared with representatives of the prediction approaches. PMID:25574490
Proposal of Wireless Traffic Control Schemes for Wireless LANs
NASA Astrophysics Data System (ADS)
Hiraguri, Takefumi; Ichikawa, Takeo; Iizuka, Masataka; Kubota, Shuji
This paper proposes two traffic control schemes to support the communication quality of multimedia streaming services such as VoIP and audio/video over IEEE 802.11 wireless LAN systems. The main features of the proposed scheme are bandwidth control for each flow of the multimedia streaming service and load balancing between access points (APs) of the wireless LAN by using information of data link, network and transport layers. The proposed schemes are implemented on a Linux machine which is called the wireless traffic controller (WTC). The WTC connects a high capacity backbone network and an access network to which the APs are attached. We evaluated the performance of the proposed WTC and confirmed that the communication quality of the multimedia streaming would be greatly improved by using this technique.
A self-learning call admission control scheme for CDMA cellular networks.
Liu, Derong; Zhang, Yi; Zhang, Huaguang
2005-09-01
In the present paper, a call admission control scheme that can learn from the network environment and user behavior is developed for code division multiple access (CDMA) cellular networks that handle both voice and data services. The idea is built upon a novel learning control architecture with only a single module instead of two or three modules in adaptive critic designs (ACDs). The use of adaptive critic approach for call admission control in wireless cellular networks is new. The call admission controller can perform learning in real-time as well as in offline environments and the controller improves its performance as it gains more experience. Another important contribution in the present work is the choice of utility function for the present self-learning control approach which makes the present learning process much more efficient than existing learning control methods. The performance of our algorithm will be shown through computer simulation and compared with existing algorithms. PMID:16252828
Adaptive control of dual-arm robots
NASA Technical Reports Server (NTRS)
Seraji, H.
1987-01-01
Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.
NASA Astrophysics Data System (ADS)
Chen, Ying; Shen, Jie
2016-03-01
In this paper we develop a fully adaptive energy stable scheme for Cahn-Hilliard Navier-Stokes system, which is a phase-field model for two-phase incompressible flows, consisting a Cahn-Hilliard-type diffusion equation and a Navier-Stokes equation. This scheme, which is decoupled and unconditionally energy stable based on stabilization, involves adaptive mesh, adaptive time and a nonlinear multigrid finite difference method. Numerical experiments are carried out to validate the scheme for problems with matched density and non-matched density, and also demonstrate that CPU time can be significantly reduced with our adaptive approach.
Adaptive control of large space structures using recursive lattice filters
NASA Technical Reports Server (NTRS)
Sundararajan, N.; Goglia, G. L.
1985-01-01
The use of recursive lattice filters for identification and adaptive control of large space structures is studied. Lattice filters were used to identify the structural dynamics model of the flexible structures. This identification model is then used for adaptive control. Before the identified model and control laws are integrated, the identified model is passed through a series of validation procedures and only when the model passes these validation procedures is control engaged. This type of validation scheme prevents instability when the overall loop is closed. Another important area of research, namely that of robust controller synthesis, was investigated using frequency domain multivariable controller synthesis methods. The method uses the Linear Quadratic Guassian/Loop Transfer Recovery (LQG/LTR) approach to ensure stability against unmodeled higher frequency modes and achieves the desired performance.
Parallel Implementation of an Adaptive Scheme for 3D Unstructured Grids on the SP2
NASA Technical Reports Server (NTRS)
Oliker, Leonid; Biswas, Rupak; Strawn, Roger C.
1996-01-01
Dynamic mesh adaption on unstructured grids is a powerful tool for computing unsteady flows that require local grid modifications to efficiently resolve solution features. For this work, we consider an edge-based adaption scheme that has shown good single-processor performance on the C90. We report on our experience parallelizing this code for the SP2. Results show a 47.OX speedup on 64 processors when 10% of the mesh is randomly refined. Performance deteriorates to 7.7X when the same number of edges are refined in a highly-localized region. This is because almost all mesh adaption is confined to a single processor. However, this problem can be remedied by repartitioning the mesh immediately after targeting edges for refinement but before the actual adaption takes place. With this change, the speedup improves dramatically to 43.6X.
Parallel implementation of an adaptive scheme for 3D unstructured grids on the SP2
NASA Technical Reports Server (NTRS)
Strawn, Roger C.; Oliker, Leonid; Biswas, Rupak
1996-01-01
Dynamic mesh adaption on unstructured grids is a powerful tool for computing unsteady flows that require local grid modifications to efficiently resolve solution features. For this work, we consider an edge-based adaption scheme that has shown good single-processor performance on the C90. We report on our experience parallelizing this code for the SP2. Results show a 47.0X speedup on 64 processors when 10 percent of the mesh is randomly refined. Performance deteriorates to 7.7X when the same number of edges are refined in a highly-localized region. This is because almost all the mesh adaption is confined to a single processor. However, this problem can be remedied by repartitioning the mesh immediately after targeting edges for refinement but before the actual adaption takes place. With this change, the speedup improves dramatically to 43.6X.
Effects of incomplete adaption and disturbance in adaptive control
NASA Technical Reports Server (NTRS)
Lindorff, D. P.
1972-01-01
This investigation focused attention on the fact that the synthesis of adaptive control systems has often been discussed in the framework of idealizations which may represent over simplifications. A condition for boundedness of the tracking error has been derived for the case in which incomplete adaption and disturbance are present. When using Parks' design it is shown that instability of the adaptive gains can result due to the presence of disturbance. The theory has been applied to a nontrivial example in order to illustrate the concepts involved.
Rodrigues, Joel J. P. C.
2014-01-01
This paper exploits sink mobility to prolong the lifetime of sensor networks while maintaining the data transmission delay relatively low. A location predictive and time adaptive data gathering scheme is proposed. In this paper, we introduce a sink location prediction principle based on loose time synchronization and deduce the time-location formulas of the mobile sink. According to local clocks and the time-location formulas of the mobile sink, nodes in the network are able to calculate the current location of the mobile sink accurately and route data packets timely toward the mobile sink by multihop relay. Considering that data packets generating from different areas may be different greatly, an adaptive dwelling time adjustment method is also proposed to balance energy consumption among nodes in the network. Simulation results show that our data gathering scheme enables data routing with less data transmission time delay and balance energy consumption among nodes. PMID:25302327
Dynamic optimization and adaptive controller design
NASA Astrophysics Data System (ADS)
Inamdar, S. R.
2010-10-01
In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.
NASA Astrophysics Data System (ADS)
Chow, C. W.; Yeh, C. H.; Liu, Y. F.; Huang, P. Y.; Liu, Y.
2013-04-01
Spectral-efficient orthogonal frequency division multiplexing (OFDM) is a promising modulation format for the light-emitting-diode (LED) optical wireless (OW) visible light communication (VLC). VLC is a directional and line-of-sight communication; hence the offset of the optical receiver (Rx) and the LED light source will result in a large drop of received optical power. In order to keep the same luminance of the LED light source, we propose and demonstrate an adaptive control of the OFDM modulation-order to maintain the VLC transmission performance. Experimental results confirm the feasibility of the proposed scheme.
Flight Approach to Adaptive Control Research
NASA Technical Reports Server (NTRS)
Pavlock, Kate Maureen; Less, James L.; Larson, David Nils
2011-01-01
The National Aeronautics and Space Administration's Dryden Flight Research Center completed flight testing of adaptive controls research on a full-scale F-18 testbed. The testbed served as a full-scale vehicle to test and validate adaptive flight control research addressing technical challenges involved with reducing risk to enable safe flight in the presence of adverse conditions such as structural damage or control surface failures. This paper describes the research interface architecture, risk mitigations, flight test approach and lessons learned of adaptive controls research.
Adaptive muffler based on controlled flow valves.
Šteblaj, Peter; Čudina, Mirko; Lipar, Primož; Prezelj, Jurij
2015-06-01
An adaptive muffler with a flexible internal structure is considered. Flexibility is achieved using controlled flow valves. The proposed adaptive muffler is able to adapt to changes in engine operating conditions. It consists of a Helmholtz resonator, expansion chamber, and quarter wavelength resonator. Different combinations of the control valves' states at different operating conditions define the main working principle. To control the valve's position, an active noise control approach was used. With the proposed muffler, the transmission loss can be increased by more than 10 dB in the selected frequency range. PMID:26093462
Mitigation of Remedial Action Schemes by Decentralized Robust Governor Control
Elizondo, Marcelo A.; Marinovici, Laurentiu D.; Lian, Jianming; Kalsi, Karanjit; Du, Pengwei
2014-04-15
This paper presents transient stability improvement by a new distributed hierarchical control architecture (DHC). The integration of remedial action schemes (RAS) to the distributed hierarchical control architecture is studied. RAS in power systems are designed to maintain stability and avoid undesired system conditions by rapidly switching equipment and/or changing operating points according to predetermined rules. The acceleration trend relay currently in use in the US western interconnection is an example of RAS that trips generators to maintain transient stability. The link between RAS and DHC is through fast acting robust turbine/governor control that can also improve transient stability. In this paper, the influence of the decentralized robust turbine/governor control on the design of RAS is studied. Benefits of combining these two schemes are increasing power transfer capability and mitigation of RAS generator tripping actions; the later benefit is shown through simulations.
An optimal performance control scheme for a 3D crane
NASA Astrophysics Data System (ADS)
Maghsoudi, Mohammad Javad; Mohamed, Z.; Husain, A. R.; Tokhi, M. O.
2016-01-01
This paper presents an optimal performance control scheme for control of a three dimensional (3D) crane system including a Zero Vibration shaper which considers two control objectives concurrently. The control objectives are fast and accurate positioning of a trolley and minimum sway of a payload. A complete mathematical model of a lab-scaled 3D crane is simulated in Simulink. With a specific cost function the proposed controller is designed to cater both control objectives similar to a skilled operator. Simulation and experimental studies on a 3D crane show that the proposed controller has better performance as compared to a sequentially tuned PID-PID anti swing controller. The controller provides better position response with satisfactory payload sway in both rail and trolley responses. Experiments with different payloads and cable lengths show that the proposed controller is robust to changes in payload with satisfactory responses.
Hybrid threshold adaptable quantum secret sharing scheme with reverse Huffman-Fibonacci-tree coding.
Lai, Hong; Zhang, Jun; Luo, Ming-Xing; Pan, Lei; Pieprzyk, Josef; Xiao, Fuyuan; Orgun, Mehmet A
2016-01-01
With prevalent attacks in communication, sharing a secret between communicating parties is an ongoing challenge. Moreover, it is important to integrate quantum solutions with classical secret sharing schemes with low computational cost for the real world use. This paper proposes a novel hybrid threshold adaptable quantum secret sharing scheme, using an m-bonacci orbital angular momentum (OAM) pump, Lagrange interpolation polynomials, and reverse Huffman-Fibonacci-tree coding. To be exact, we employ entangled states prepared by m-bonacci sequences to detect eavesdropping. Meanwhile, we encode m-bonacci sequences in Lagrange interpolation polynomials to generate the shares of a secret with reverse Huffman-Fibonacci-tree coding. The advantages of the proposed scheme is that it can detect eavesdropping without joint quantum operations, and permits secret sharing for an arbitrary but no less than threshold-value number of classical participants with much lower bandwidth. Also, in comparison with existing quantum secret sharing schemes, it still works when there are dynamic changes, such as the unavailability of some quantum channel, the arrival of new participants and the departure of participants. Finally, we provide security analysis of the new hybrid quantum secret sharing scheme and discuss its useful features for modern applications. PMID:27515908
Hybrid threshold adaptable quantum secret sharing scheme with reverse Huffman-Fibonacci-tree coding
Lai, Hong; Zhang, Jun; Luo, Ming-Xing; Pan, Lei; Pieprzyk, Josef; Xiao, Fuyuan; Orgun, Mehmet A.
2016-01-01
With prevalent attacks in communication, sharing a secret between communicating parties is an ongoing challenge. Moreover, it is important to integrate quantum solutions with classical secret sharing schemes with low computational cost for the real world use. This paper proposes a novel hybrid threshold adaptable quantum secret sharing scheme, using an m-bonacci orbital angular momentum (OAM) pump, Lagrange interpolation polynomials, and reverse Huffman-Fibonacci-tree coding. To be exact, we employ entangled states prepared by m-bonacci sequences to detect eavesdropping. Meanwhile, we encode m-bonacci sequences in Lagrange interpolation polynomials to generate the shares of a secret with reverse Huffman-Fibonacci-tree coding. The advantages of the proposed scheme is that it can detect eavesdropping without joint quantum operations, and permits secret sharing for an arbitrary but no less than threshold-value number of classical participants with much lower bandwidth. Also, in comparison with existing quantum secret sharing schemes, it still works when there are dynamic changes, such as the unavailability of some quantum channel, the arrival of new participants and the departure of participants. Finally, we provide security analysis of the new hybrid quantum secret sharing scheme and discuss its useful features for modern applications. PMID:27515908
Adaptive Impedance Control Of Redundant Manipulators
NASA Technical Reports Server (NTRS)
Seraji, Homayoun; Colbaugh, Richard D.; Glass, Kristin L.
1994-01-01
Improved method of controlling mechanical impedance of end effector of redundant robotic manipulator based on adaptive-control theory. Consists of two subsystems: adaptive impedance controller generating force-control inputs in Cartesian space of end effector to provide desired end-effector-impedance characteristics, and subsystem implementing algorithm that maps force-control inputs into torques applied to joints of manipulator. Accurate control of end effector and effective utilization of redundancy achieved simultaneously by use of method. Potential use to improve performance of such typical impedance-control tasks as deburring edges and accommodating transitions between unconstrained and constrained motions of end effectors.
Yang, Cheng-Hsiung; Wu, Cheng-Lin
2014-01-01
An adaptive control scheme is developed to study the generalized adaptive chaos synchronization with uncertain chaotic parameters behavior between two identical chaotic dynamic systems. This generalized adaptive chaos synchronization controller is designed based on Lyapunov stability theory and an analytic expression of the adaptive controller with its update laws of uncertain chaotic parameters is shown. The generalized adaptive synchronization with uncertain parameters between two identical new Lorenz-Stenflo systems is taken as three examples to show the effectiveness of the proposed method. The numerical simulations are shown to verify the results. PMID:25295292
Novel calibration and color adaptation schemes in three-fringe RGB photoelasticity
NASA Astrophysics Data System (ADS)
Swain, Digendranath; Thomas, Binu P.; Philip, Jeby; Pillai, S. Annamala
2015-03-01
Isochromatic demodulation in digital photoelasticity using RGB calibration is a two step process. The first step involves the construction of a look-up table (LUT) from a calibration experiment. In the second step, isochromatic data is demodulated by matching the colors of an analysis image with the colors existing in the LUT. As actual test and calibration experiment tint conditions vary due to different sources, color adaptation techniques for modifying an existing primary LUT are employed. However, the primary LUT is still generated from bending experiments. In this paper, RGB demodulation based on a theoretically constructed LUT has been attempted to exploit the advantages of color adaptation schemes. Thereby, the experimental mode of LUT generation and some uncertainties therein can be minimized. Additionally, a new color adaptation algorithm is proposed using quadratic Lagrangian interpolation polynomials, which is numerically better than the two-point linear interpolations available in the literature. The new calibration and color adaptation schemes are validated and applied to demodulate fringe orders in live models and stress frozen slices.
Intelligent control of non-linear dynamical system based on the adaptive neurocontroller
NASA Astrophysics Data System (ADS)
Engel, E.; Kovalev, I. V.; Kobezhicov, V.
2015-10-01
This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the base of system's state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simulation results show that the proposed controller scheme achieves real-time control speed and the competitive performance, as compared to PID, fuzzy logic controllers.
A concatenated coded modulation scheme for error control (addition 2)
NASA Technical Reports Server (NTRS)
Lin, Shu
1988-01-01
A concatenated coded modulation scheme for error control in data communications is described. The scheme is achieved by concatenating a Reed-Solomon outer code and a bandwidth efficient block inner code for M-ary PSK modulation. Error performance of the scheme is analyzed for an AWGN channel. It is shown that extremely high reliability can be attained by using a simple M-ary PSK modulation inner code and a relatively powerful Reed-Solomon outer code. Furthermore, if an inner code of high effective rate is used, the bandwidth expansion required by the scheme due to coding will be greatly reduced. The proposed scheme is particularly effective for high-speed satellite communications for large file transfer where high reliability is required. This paper also presents a simple method for constructing block codes for M-ary PSK modulation. Some short M-ary PSK codes with good minimum squared Euclidean distance are constructed. These codes have trellis structure and hence can be decoded with a soft-decision Viterbi decoding algorithm. Furthermore, some of these codes are phase invariant under multiples of 45 deg rotation.
A concatenated coded modulation scheme for error control
NASA Technical Reports Server (NTRS)
Lin, Shu
1988-01-01
A concatenated coded modulation scheme for error control in data communications is presented. The scheme is achieved by concatenating a Reed-Solomon outer code and a bandwidth efficient block inner code for M-ary PSK modulation. Error performance of the scheme is analyzed for an AWGN channel. It is shown that extremely high reliability can be attained by using a simple M-ary PSK modulation inner code and a relatively powerful Reed-Solomon outer code. Furthermore, if an inner code of high effective rate is used, the bandwidth expansion required by the scheme due to coding will be greatly reduced. The proposed scheme is very effective for high speed satellite communications for large file transfer where high reliability is required. A simple method is also presented for constructing codes for M-ary PSK modulation. Some short M-ary PSK codes with good minimum squared Euclidean distance are constructed. These codes have trellis structure and hence can be decoded with a soft decision Viterbi decoding algorithm. Furthermore, some of these codes are phase invariant under multiples of 45 deg rotation.
A concatenated coded modulation scheme for error control
NASA Technical Reports Server (NTRS)
Kasami, Tadao; Lin, Shu
1988-01-01
A concatenated coded modulation scheme for error control in data communications is presented. The scheme is achieved by concatenating a Reed-Solomon outer code and a bandwidth efficient block inner code for M-ary PSK modulation. Error performance of the scheme is analyzed for an AWGN channel. It is shown that extremely high reliability can be attained by using a simple M-ary PSK modulation inner code and relatively powerful Reed-Solomon outer code. Furthermore, if an inner code of high effective rate is used, the bandwidth expansion required by the scheme due to coding will be greatly reduced. The proposed scheme is particularly effective for high speed satellite communication for large file transfer where high reliability is required. Also presented is a simple method for constructing block codes for M-ary PSK modulation. Some short M-ary PSK codes with good minimum squared Euclidean distance are constructed. These codes have trellis structure and hence can be decoded with a soft decision Viterbi decoding algorithm.
On-line Adaptive and Intelligent Distance Relaying Scheme for Power Network
NASA Astrophysics Data System (ADS)
Dubey, Rahul; Samantaray, S. R.; Panigrahi, B. K.; Venkoparao, G. V.
2015-10-01
The paper presents an on-line sequential extreme learning machine (OS-ELM) based fast and accurate adaptive distance relaying scheme (ADRS) for transmission line protection. The proposed method develops an adaptive relay characteristics suitable to the changes in the physical conditions of the power systems. This can efficiently update the trained model on-line by partial training on the new data to reduce the model updating time whenever a new special case occurs. The effectiveness of the proposed method is validated on simulation platform for test system with two terminal parallel transmission lines with complex mutual coupling. The test results, considering wide variations in operating conditions of the faulted power network, indicate that the proposed adaptive relay setting provides significant improvement in the relay performance.
Digital adaptive control laws for VTOL aircraft
NASA Technical Reports Server (NTRS)
Hartmann, G. L.; Stein, G.
1979-01-01
Honeywell has designed a digital self-adaptive flight control system for flight test in the VALT Research Aircraft (a modified CH-47). The final design resulted from a comparison of two different adaptive concepts: one based on explicit parameter estimates from a real-time maximum likelihood estimation algorithm and the other based on an implicit model reference adaptive system. The two designs are compared on the basis of performance and complexity.
Application of a solution adaptive grid scheme, SAGE, to complex three-dimensional flows
NASA Technical Reports Server (NTRS)
Davies, Carol B.; Venkatapathy, Ethiraj
1991-01-01
A new three-dimensional (3D) adaptive grid code based on the algebraic, solution-adaptive scheme of Nakahashi and Deiwert is developed and applied to a variety of problems. The new computer code, SAGE, is an extension of the same-named two-dimensional (2D) solution-adaptive program that has already proven to be a powerful tool in computational fluid dynamics applications. The new code has been applied to a range of complex three-dimensional, supersonic and hypersonic flows. Examples discussed are a tandem-slot fuel injector, the hypersonic forebody of the Aeroassist Flight Experiment (AFE), the 3D base flow behind the AFE, the supersonic flow around a 3D swept ramp and a generic, hypersonic, 3D nozzle-plume flow. The associated adapted grids and the solution enhancements resulting from the grid adaption are presented for these cases. Three-dimensional adaption is more complex than its 2D counterpart, and the complexities unique to the 3D problems are discussed.
Adaptive integral dynamic surface control of a hypersonic flight vehicle
NASA Astrophysics Data System (ADS)
Aslam Butt, Waseem; Yan, Lin; Amezquita S., Kendrick
2015-07-01
In this article, non-linear adaptive dynamic surface air speed and flight path angle control designs are presented for the longitudinal dynamics of a flexible hypersonic flight vehicle. The tracking performance of the control design is enhanced by introducing a novel integral term that caters to avoiding a large initial control signal. To ensure feasibility, the design scheme incorporates magnitude and rate constraints on the actuator commands. The uncertain non-linear functions are approximated by an efficient use of the neural networks to reduce the computational load. A detailed stability analysis shows that all closed-loop signals are uniformly ultimately bounded and the ? tracking performance is guaranteed. The robustness of the design scheme is verified through numerical simulations of the flexible flight vehicle model.
The adaptive control system of acetylene generator
NASA Astrophysics Data System (ADS)
Kovaliuk, D. O.; Kovaliuk, Oleg; Burlibay, Aron; Gromaszek, Konrad
2015-12-01
The method of acetylene production in acetylene generator was analyzed. It was found that impossible to provide the desired process characteristics by the PID-controller. The adaptive control system of acetylene generator was developed. The proposed system combines the classic controller and fuzzy subsystem for controller parameters tuning.
Adaptive Flight Control Research at NASA
NASA Technical Reports Server (NTRS)
Motter, Mark A.
2008-01-01
A broad overview of current adaptive flight control research efforts at NASA is presented, as well as some more detailed discussion of selected specific approaches. The stated objective of the Integrated Resilient Aircraft Control Project, one of NASA s Aviation Safety programs, is to advance the state-of-the-art of adaptive controls as a design option to provide enhanced stability and maneuverability margins for safe landing in the presence of adverse conditions such as actuator or sensor failures. Under this project, a number of adaptive control approaches are being pursued, including neural networks and multiple models. Validation of all the adaptive control approaches will use not only traditional methods such as simulation, wind tunnel testing and manned flight tests, but will be augmented with recently developed capabilities in unmanned flight testing.
An adaptive learning control system for large flexible structures
NASA Technical Reports Server (NTRS)
Thau, F. E.
1985-01-01
The objective of the research has been to study the design of adaptive/learning control systems for the control of large flexible structures. In the first activity an adaptive/learning control methodology for flexible space structures was investigated. The approach was based on using a modal model of the flexible structure dynamics and an output-error identification scheme to identify modal parameters. In the second activity, a least-squares identification scheme was proposed for estimating both modal parameters and modal-to-actuator and modal-to-sensor shape functions. The technique was applied to experimental data obtained from the NASA Langley beam experiment. In the third activity, a separable nonlinear least-squares approach was developed for estimating the number of excited modes, shape functions, modal parameters, and modal amplitude and velocity time functions for a flexible structure. In the final research activity, a dual-adaptive control strategy was developed for regulating the modal dynamics and identifying modal parameters of a flexible structure. A min-max approach was used for finding an input to provide modal parameter identification while not exceeding reasonable bounds on modal displacement.
An adaptive error modeling scheme for the lossless compression of EEG signals.
Sriraam, N; Eswaran, C
2008-09-01
Lossless compression of EEG signal is of great importance for the neurological diagnosis as the specialists consider the exact reconstruction of the signal as a primary requirement. This paper discusses a lossless compression scheme for EEG signals that involves a predictor and an adaptive error modeling technique. The prediction residues are arranged based on the error count through an histogram computation. Two optimal regions are identified in the histogram plot through a heuristic search such that the bit requirement for encoding the two regions is minimum. Further improvement in the compression is achieved by removing the statistical redundancy that is present in the residue signal by using a context-based bias cancellation scheme. Three neural network predictors, namely, single-layer perceptron, multilayer perceptron, and Elman network and two linear predictors, namely, autoregressive model and finite impulse response filter are considered. Experiments are conducted using EEG signals recorded under different physiological conditions and the performances of the proposed methods are evaluated in terms of the compression ratio. It is shown that the proposed adaptive error modeling schemes yield better compression results compared to other known compression methods. PMID:18779073
A Trust-Based Adaptive Probability Marking and Storage Traceback Scheme for WSNs.
Liu, Anfeng; Liu, Xiao; Long, Jun
2016-01-01
Security is a pivotal issue for wireless sensor networks (WSNs), which are emerging as a promising platform that enables a wide range of military, scientific, industrial and commercial applications. Traceback, a key cyber-forensics technology, can play an important role in tracing and locating a malicious source to guarantee cybersecurity. In this work a trust-based adaptive probability marking and storage (TAPMS) traceback scheme is proposed to enhance security for WSNs. In a TAPMS scheme, the marking probability is adaptively adjusted according to the security requirements of the network and can substantially reduce the number of marking tuples and improve network lifetime. More importantly, a high trust node is selected to store marking tuples, which can avoid the problem of marking information being lost. Experimental results show that the total number of marking tuples can be reduced in a TAPMS scheme, thus improving network lifetime. At the same time, since the marking tuples are stored in high trust nodes, storage reliability can be guaranteed, and the traceback time can be reduced by more than 80%. PMID:27043566
A Trust-Based Adaptive Probability Marking and Storage Traceback Scheme for WSNs
Liu, Anfeng; Liu, Xiao; Long, Jun
2016-01-01
Security is a pivotal issue for wireless sensor networks (WSNs), which are emerging as a promising platform that enables a wide range of military, scientific, industrial and commercial applications. Traceback, a key cyber-forensics technology, can play an important role in tracing and locating a malicious source to guarantee cybersecurity. In this work a trust-based adaptive probability marking and storage (TAPMS) traceback scheme is proposed to enhance security for WSNs. In a TAPMS scheme, the marking probability is adaptively adjusted according to the security requirements of the network and can substantially reduce the number of marking tuples and improve network lifetime. More importantly, a high trust node is selected to store marking tuples, which can avoid the problem of marking information being lost. Experimental results show that the total number of marking tuples can be reduced in a TAPMS scheme, thus improving network lifetime. At the same time, since the marking tuples are stored in high trust nodes, storage reliability can be guaranteed, and the traceback time can be reduced by more than 80%. PMID:27043566
NASA Astrophysics Data System (ADS)
Saghri, John A.
2010-05-01
A computationally efficient adaptive two-stage Karhunen-Loeve transform (KLT) scheme for spectral decorrelation in hyperspectral lossy bandwidth compression is presented. The component decorrelation of the JPEG 2000 (extension 2) is replaced with an adaptive two-stage KLT scheme. The data are partitioned into small subsets. The spectral correlation within each partition is removed via a first-stage KLT. The interpartition spectral correlation is removed using a second-stage KLT applied to the resulting top few sets of equilevel principal component (PC) images. Since only a fraction of each equilevel first-stage PC images are used in the second stage, the KLT transformation matrices will have smaller sizes, leading to further improvement in computational complexity and coding efficiency. The computation of the proposed approach is parametrically quantified. It is shown that reconstructed image quality, as measured via statistical and/or machine-based exploitation measures, is improved by using a smaller partition size in the first-stage KLT. A criterion based on the components of the eigenvectors of the cross-covariance matrix is established to select first-stage PC images, which are used in the second-stage KLT. The proposed scheme also reduces the overhead bits required to transmit the covariance information to the receiver in conjunction with the coding bitstream.
NASA Astrophysics Data System (ADS)
Fromang, S.; Hennebelle, P.; Teyssier, R.
2006-10-01
Aims. In this paper, we present a new method to perform numerical simulations of astrophysical MHD flows using the Adaptive Mesh Refinement framework and Constrained Transport. Methods: . The algorithm is based on a previous work in which the MUSCL-Hancock scheme was used to evolve the induction equation. In this paper, we detail the extension of this scheme to the full MHD equations and discuss its properties. Results: . Through a series of test problems, we illustrate the performances of this new code using two different MHD Riemann solvers (Lax-Friedrich and Roe) and the need of the Adaptive Mesh Refinement capabilities in some cases. Finally, we show its versatility by applying it to two completely different astrophysical situations well studied in the past years: the growth of the magnetorotational instability in the shearing box and the collapse of magnetized cloud cores. Conclusions: . We have implemented a new Godunov scheme to solve the ideal MHD equations in the AMR code RAMSES. We have shown that it results in a powerful tool that can be applied to a great variety of astrophysical problems, ranging from galaxies formation in the early universe to high resolution studies of molecular cloud collapse in our galaxy.
NASA Astrophysics Data System (ADS)
Lasaad, Sbita; Dalila, Zaltni; Naceurq, Abdelkrim Mohamed
This study demonstrates that high performance speed control can be obtained by using an adaptative sliding mode control method for a direct vector controlled Squirrel Cage Induction Motor (SCIM). In this study a new method of designing a simple and effective adaptative sliding mode rotational speed control law is developed. The design includes an accurate sliding mode flux observation from the measured stator terminals and rotor speed. The performance of the Direct Field-Orientation Control (DFOC) is ensured by online tuning based on a Model Reference Adaptative System (MRAS) rotor time constant estimator. The control strategy is derived in the sense of Lyapunov stability theory so that the stable tracking performance can be guaranteed under the occurrence of system uncertainties and external disturbances. The proposed scheme is a solution for a robust and high performance induction motor servo drives. Simulation results are provided to validate the effectiveness and robustness of the developed methodology.
Performance of dimming control scheme in visible light communication system.
Wang, Zixiong; Zhong, Wen-De; Yu, Changyuan; Chen, Jian; Francois, Chin Po Shin; Chen, Wei
2012-08-13
We investigate the performance of visible light communication (VLC) system with a pulse width modulation (PWM) dimming control scheme. Under this scheme, the communication quality in terms of number of transmitted bits and bit error rate (BER) of less than 10(-3) should be guaranteed. However, for on-off-keying (OOK) signal, the required data rate becomes 10 times as high as the original data rate when the duty cycle of dimming control signal is 0.1. To make the dimming control scheme easy to be implemented in VLC system, we propose the variable M-QAM OFDM VLC system, where M is adjusted according to the brightness of LED light in terms of duty cycle. The results show that with different duty cycles the required data rates are not higher than the original value and less LED lamp power is required to guarantee the communication quality, which makes the dimming control system that satisfies both communication and illumination requirements easy to be implemented and power-saving. PMID:23038525
PFC design via FRIT Approach for Adaptive Output Feedback Control of Discrete-time Systems
NASA Astrophysics Data System (ADS)
Mizumoto, Ikuro; Takagi, Taro; Fukui, Sota; Shah, Sirish L.
This paper deals with a design problem of an adaptive output feedback control for discrete-time systems with a parallel feedforward compensator (PFC) which is designed for making the augmented controlled system ASPR. A PFC design scheme by a FRIT approach with only using an input/output experimental data set will be proposed for discrete-time systems in order to design an adaptive output feedback control system. Furthermore, the effectiveness of the proposed PFC design method will be confirmed through numerical simulations by designing adaptive control system with adaptive NN (Neural Network) for an uncertain discrete-time system.
An integrated architecture of adaptive neural network control for dynamic systems
Ke, Liu; Tokar, R.; Mcvey, B.
1994-07-01
In this study, an integrated neural network control architecture for nonlinear dynamic systems is presented. Most of the recent emphasis in the neural network control field has no error feedback as the control input which rises the adaptation problem. The integrated architecture in this paper combines feed forward control and error feedback adaptive control using neural networks. The paper reveals the different internal functionality of these two kinds of neural network controllers for certain input styles, e.g., state feedback and error feedback. Feed forward neural network controllers with state feedback establish fixed control mappings which can not adapt when model uncertainties present. With error feedbacks, neural network controllers learn the slopes or the gains respecting to the error feedbacks, which are error driven adaptive control systems. The results demonstrate that the two kinds of control scheme can be combined to realize their individual advantages. Testing with disturbances added to the plant shows good tracking and adaptation.
NASA Astrophysics Data System (ADS)
Luo, Hongjun; Kolb, Dietmar; Flad, Heinz-Jurgen; Hackbusch, Wolfgang; Koprucki, Thomas
2002-08-01
We have studied various aspects concerning the use of hyperbolic wavelets and adaptive approximation schemes for wavelet expansions of correlated wave functions. In order to analyze the consequences of reduced regularity of the wave function at the electron-electron cusp, we first considered a realistic exactly solvable many-particle model in one dimension. Convergence rates of wavelet expansions, with respect to L2 and H1 norms and the energy, were established for this model. We compare the performance of hyperbolic wavelets and their extensions through adaptive refinement in the cusp region, to a fully adaptive treatment based on the energy contribution of individual wavelets. Although hyperbolic wavelets show an inferior convergence behavior, they can be easily refined in the cusp region yielding an optimal convergence rate for the energy. Preliminary results for the helium atom are presented, which demonstrate the transferability of our observations to more realistic systems. We propose a contraction scheme for wavelets in the cusp region, which reduces the number of degrees of freedom and yields a favorable cost to benefit ratio for the evaluation of matrix elements.
On fractional order composite model reference adaptive control
NASA Astrophysics Data System (ADS)
Wei, Yiheng; Sun, Zhenyuan; Hu, Yangsheng; Wang, Yong
2016-08-01
This paper presents a novel composite model reference adaptive control approach for a class of fractional order linear systems with unknown constant parameters. The method is extended from the model reference adaptive control. The parameter estimation error of our method depends on both the tracking error and the prediction error, whereas the existing method only depends on the tracking error, which makes our method has better transient performance in the sense of generating smooth system output. By the aid of the continuous frequency distributed model, stability of the proposed approach is established in the Lyapunov sense. Furthermore, the convergence property of the model parameters estimation is presented, on the premise that the closed-loop control system is stable. Finally, numerical simulation examples are given to demonstrate the effectiveness of the proposed schemes.
Multivariable output feedback robust adaptive tracking control design for a class of delayed systems
NASA Astrophysics Data System (ADS)
Mirkin, Boris; Gutman, Per-Olof
2015-02-01
In this paper, we develop a model reference adaptive control scheme for a class of multi-input multi-output nonlinearly perturbed dynamic systems with unknown time-varying state delays which is also robust with respect to an external disturbance with unknown bounds. The output feedback adaptive control scheme uses feedback actions only, and thus does not require a direct measurement of the command or disturbance signals. A suitable Lyapunov-Krasovskii type functional is introduced to design the adaptation algorithms and to prove stability.
On Fractional Model Reference Adaptive Control
Shi, Bao; Dong, Chao
2014-01-01
This paper extends the conventional Model Reference Adaptive Control systems to fractional ones based on the theory of fractional calculus. A control law and an incommensurate fractional adaptation law are designed for the fractional plant and the fractional reference model. The stability and tracking convergence are analyzed using the frequency distributed fractional integrator model and Lyapunov theory. Moreover, numerical simulations of both linear and nonlinear systems are performed to exhibit the viability and effectiveness of the proposed methodology. PMID:24574897
On fractional Model Reference Adaptive Control.
Shi, Bao; Yuan, Jian; Dong, Chao
2014-01-01
This paper extends the conventional Model Reference Adaptive Control systems to fractional ones based on the theory of fractional calculus. A control law and an incommensurate fractional adaptation law are designed for the fractional plant and the fractional reference model. The stability and tracking convergence are analyzed using the frequency distributed fractional integrator model and Lyapunov theory. Moreover, numerical simulations of both linear and nonlinear systems are performed to exhibit the viability and effectiveness of the proposed methodology. PMID:24574897
NASA Technical Reports Server (NTRS)
Usab, William J., Jr.; Jiang, Yi-Tsann
1991-01-01
The objective of the present research is to develop a general solution adaptive scheme for the accurate prediction of inviscid quasi-three-dimensional flow in advanced compressor and turbine designs. The adaptive solution scheme combines an explicit finite-volume time-marching scheme for unstructured triangular meshes and an advancing front triangular mesh scheme with a remeshing procedure for adapting the mesh as the solution evolves. The unstructured flow solver has been tested on a series of two-dimensional airfoil configurations including a three-element analytic test case presented here. Mesh adapted quasi-three-dimensional Euler solutions are presented for three spanwise stations of the NASA rotor 67 transonic fan. Computed solutions are compared with available experimental data.
Simple adaptive tracking control for mobile robots
NASA Astrophysics Data System (ADS)
Bobtsov, Alexey; Faronov, Maxim; Kolyubin, Sergey; Pyrkin, Anton
2014-12-01
The problem of simple adaptive and robust control is studied for the case of parametric and dynamic dimension uncertainties: only the maximum possible relative degree of the plant model is known. The control approach "consecutive compensator" is investigated. To illustrate the efficiency of proposed approach an example with the mobile robot motion control using computer vision system is considered.
An adaptive grid with directional control
NASA Technical Reports Server (NTRS)
Brackbill, J. U.
1993-01-01
An adaptive grid generator for adaptive node movement is here derived by combining a variational formulation of Winslow's (1981) variable-diffusion method with a directional control functional. By applying harmonic-function theory, it becomes possible to define conditions under which there exist unique solutions of the resulting elliptic equations. The results obtained for the grid generator's application to the complex problem posed by the fluid instability-driven magnetic field reconnection demonstrate one-tenth the computational cost of either a Eulerian grid or an adaptive grid without directional control.
Control Scheme for Quickly Starting X-ray Tube
NASA Astrophysics Data System (ADS)
Nakahama, Masayuki; Nakanishi, Toshiki; Ishitobi, Manabu; Ito, Tuyoshi; Hosoda, Kenichi
A control scheme for quickly starting a portable X-ray generator used in the livestock industry is proposed in this paper. A portable X-ray generator used to take X-ray images of animals such as horses, sheep and dogs should be capable of starting quickly because it is difficult for veterinarians to take X-ray images of animals at their timing. In order to develop a scheme for starting the X-ray tube quickly, it is necessary to analysis the X-ray tube. However, such an analysis has not been discussed until now. First, the states of an X-ray tube are classified into the temperature-limited state and the space-charge-limited state. Furthermore, existence of “mixed state” that comprises both is newly proposed in this paper. From these analyses, a novel scheme for quickly starting an X-ray generator is proposed; this scheme is considered with the characteristics of the X-ray tube. The proposed X-ray system that is capable of starting quickly is evaluated on the basis of experimental results.
Genetic algorithms in adaptive fuzzy control
NASA Technical Reports Server (NTRS)
Karr, C. Lucas; Harper, Tony R.
1992-01-01
Researchers at the U.S. Bureau of Mines have developed adaptive process control systems in which genetic algorithms (GA's) are used to augment fuzzy logic controllers (FLC's). GA's are search algorithms that rapidly locate near-optimum solutions to a wide spectrum of problems by modeling the search procedures of natural genetics. FLC's are rule based systems that efficiently manipulate a problem environment by modeling the 'rule-of-thumb' strategy used in human decision making. Together, GA's and FLC's possess the capabilities necessary to produce powerful, efficient, and robust adaptive control systems. To perform efficiently, such control systems require a control element to manipulate the problem environment, an analysis element to recognize changes in the problem environment, and a learning element to adjust fuzzy membership functions in response to the changes in the problem environment. Details of an overall adaptive control system are discussed. A specific computer-simulated chemical system is used to demonstrate the ideas presented.
Adaptive Control for Microgravity Vibration Isolation System
NASA Technical Reports Server (NTRS)
Yang, Bong-Jun; Calise, Anthony J.; Craig, James I.; Whorton, Mark S.
2005-01-01
Most active vibration isolation systems that try to a provide quiescent acceleration environment for space science experiments have utilized linear design methods. In this paper, we address adaptive control augmentation of an existing classical controller that employs a high-gain acceleration feedback together with a low-gain position feedback to center the isolated platform. The control design feature includes parametric and dynamic uncertainties because the hardware of the isolation system is built as a payload-level isolator, and the acceleration Sensor exhibits a significant bias. A neural network is incorporated to adaptively compensate for the system uncertainties, and a high-pass filter is introduced to mitigate the effect of the measurement bias. Simulations show that the adaptive control improves the performance of the existing acceleration controller and keep the level of the isolated platform deviation to that of the existing control system.
Effect of control sampling rates on model-based manipulator control schemes
NASA Technical Reports Server (NTRS)
Khosla, P. K.
1987-01-01
The effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes is discussed. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a decoupled and linear model of the manipulator dynamics. Researchers discuss the design of controller gains for both the computed-torque and the independent joint control schemes and establish a framework for comparing their trajectory tracking performance. Experiments show that within each scheme the trajectory tracking accuracy varies slightly with the change of the sampling rate. However, at low sampling rates the computed-torque scheme outperforms the independent joint control scheme. Based on experimental results, researchers also conclusively establish the importance of high sampling rates as they result in an increased stiffness of the system.
An Optimal Control Modification to Model-Reference Adaptive Control for Fast Adaptation
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.; Krishnakumar, Kalmanje; Boskovic, Jovan
2008-01-01
This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control. It is well-known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High gain control creates high-frequency oscillations that can excite unmodeled dynamics and can lead to instability. The fast adaptation approach is based on the minimization of the squares of the tracking error, which is formulated as an optimal control problem. The necessary condition of optimality is used to derive an adaptive law using the gradient method. This adaptive law is shown to result in uniform boundedness of the tracking error by means of the Lyapunov s direct method. Furthermore, this adaptive law allows a large adaptive gain to be used without causing undesired high-gain control effects. The method is shown to be more robust than standard model-reference adaptive control. Simulations demonstrate the effectiveness of the proposed method.
NASA Astrophysics Data System (ADS)
Ryerson, F. J.; Ezzedine, S. M.; Antoun, T.
2013-12-01
The success of implementation and execution of numerous subsurface energy technologies such shale gas extraction, geothermal energy, underground coal gasification rely on detailed characterization of the geology and the subsurface properties. For example, spatial variability of subsurface permeability controls multi-phase flow, and hence impacts the prediction of reservoir performance. Subsurface properties can vary significantly over several length scales making detailed subsurface characterization unfeasible if not forbidden. Therefore, in common practices, only sparse measurements of data are available to image or characterize the entire reservoir. For example pressure, P, permeability, k, and production rate, Q, measurements are only available at the monitoring and operational wells. Elsewhere, the spatial distribution of k is determined by various deterministic or stochastic interpolation techniques and P and Q are calculated from the governing forward mass balance equation assuming k is given at all locations. Several uncertainty drivers, such as PSUADE, are then used to propagate and quantify the uncertainty (UQ) of quantities (variable) of interest using forward solvers. Unfortunately, forward-solver techniques and other interpolation schemes are rarely constrained by the inverse problem itself: given P and Q at observation points determine the spatially variable map of k. The approach presented here, motivated by fluid imaging for subsurface characterization and monitoring, was developed by progressively solving increasingly complex realistic problems. The essence of this novel approach is that the forward and inverse partial differential equations are the interpolator themselves for P, k and Q rather than extraneous and sometimes ad hoc schemes. Three cases with different sparsity of data are investigated. In the simplest case, a sufficient number of passive pressure data (pre-production pressure gradients) are given. Here, only the inverse hyperbolic
Li, Lebao; Sun, Lingling; Zhang, Shengzhou
2016-05-01
A new mean deviation coupling synchronization control strategy is developed for multiple motor control systems, which can guarantee the synchronization performance of multiple motor control systems and reduce complexity of the control structure with the increasing number of motors. The mean deviation coupling synchronization control architecture combining second-order adaptive sliding mode control (SOASMC) approach is proposed, which can improve synchronization control precision of multiple motor control systems and make speed tracking errors, mean speed errors of each motor and speed synchronization errors converge to zero rapidly. The proposed control scheme is robustness to parameter variations and random external disturbances and can alleviate the chattering phenomena. Moreover, an adaptive law is employed to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort. Performance comparisons with master-slave control, relative coupling control, ring coupling control, conventional PI control and SMC are investigated on a four-motor synchronization control system. Extensive comparative results are given to shown the good performance of the proposed control scheme. PMID:26899554
Hierarchical Control Scheme for Improving Transient Voltage Recovery of a DFIG-Based WPP
Kim, Jinho; Muljadi, Eduard; Kang, Yong Cheol
2015-06-05
Modern grid codes require that wind power plants (WPPs) inject reactive power according to the voltage dip at a point of interconnection (POI). This requirement helps to support a POI voltage during a fault. However, if a fault is cleared, the POI and wind turbine generator (WTG) voltages are likely to exceed acceptable levels unless the WPP reduces the injected reactive power quickly. This might deteriorate the stability of a grid by allowing the disconnection of WTGs to avoid any damage. This paper proposes a hierarchical control scheme of a doubly-fed induction generator (DFIG)-based WPP. The proposed scheme aims to improve the reactive power injecting capability during the fault and suppress the overvoltage after the fault clearance. To achieve the former, an adaptive reactive power-to-voltage scheme is implemented in each DFIG controller so that a DFIG with a larger reactive power capability will inject more reactive power. To achieve the latter, a washout filter is used to capture a high frequency component contained in the WPP voltage, which is used to remove the accumulated values in the proportional-integral controllers. Test results indicate that the scheme successfully supports the grid voltage during the fault, and recovers WPP voltages without exceeding the limit after the fault clearance.
Liu, Yan-Jun; Tong, Shaocheng; Chen, C L Philip; Li, Dong-Juan
2016-01-01
This paper studies an adaptive neural control for nonlinear multiple-input multiple-output systems in interconnected form. The studied systems are composed of N subsystems in pure feedback structure and the interconnection terms are contained in every equation of each subsystem. Moreover, the studied systems consider the effects of Prandtl-Ishlinskii (PI) hysteresis model. It is for the first time to study the control problem for such a class of systems. In addition, the proposed scheme removes an important assumption imposed on the previous works that the bounds of the parameters in PI hysteresis are known. The radial basis functions neural networks are employed to approximate unknown functions. The adaptation laws and the controllers are designed by employing the backstepping technique. The closed-loop system can be proven to be stable by using Lyapunov theorem. A simulation example is studied to validate the effectiveness of the scheme. PMID:25898325
Intelligent Engine Systems: Adaptive Control
NASA Technical Reports Server (NTRS)
Gibson, Nathan
2008-01-01
We have studied the application of the baseline Model Predictive Control (MPC) algorithm to the control of main fuel flow rate (WF36), variable bleed valve (AE24) and variable stator vane (STP25) control of a simulated high-bypass turbofan engine. Using reference trajectories for thrust and turbine inlet temperature (T41) generated by a simulated new engine, we have examined MPC for tracking these two reference outputs while controlling a deteriorated engine. We have examined the results of MPC control for six different transients: two idle-to-takeoff transients at sea level static (SLS) conditions, one takeoff-to-idle transient at SLS, a Bode power command and reverse Bode power command at 20,000 ft/Mach 0.5, and a reverse Bode transient at 35,000 ft/Mach 0.84. For all cases, our primary focus was on the computational effort required by MPC for varying MPC update rates, control horizons, and prediction horizons. We have also considered the effects of these MPC parameters on the performance of the control, with special emphasis on the thrust tracking error, the peak T41, and the sizes of violations of the constraints on the problem, primarily the booster stall margin limit, which for most cases is the lone constraint that is violated with any frequency.
Secure Dynamic access control scheme of PHR in cloud computing.
Chen, Tzer-Shyong; Liu, Chia-Hui; Chen, Tzer-Long; Chen, Chin-Sheng; Bau, Jian-Guo; Lin, Tzu-Ching
2012-12-01
With the development of information technology and medical technology, medical information has been developed from traditional paper records into electronic medical records, which have now been widely applied. The new-style medical information exchange system "personal health records (PHR)" is gradually developed. PHR is a kind of health records maintained and recorded by individuals. An ideal personal health record could integrate personal medical information from different sources and provide complete and correct personal health and medical summary through the Internet or portable media under the requirements of security and privacy. A lot of personal health records are being utilized. The patient-centered PHR information exchange system allows the public autonomously maintain and manage personal health records. Such management is convenient for storing, accessing, and sharing personal medical records. With the emergence of Cloud computing, PHR service has been transferred to storing data into Cloud servers that the resources could be flexibly utilized and the operation cost can be reduced. Nevertheless, patients would face privacy problem when storing PHR data into Cloud. Besides, it requires a secure protection scheme to encrypt the medical records of each patient for storing PHR into Cloud server. In the encryption process, it would be a challenge to achieve accurately accessing to medical records and corresponding to flexibility and efficiency. A new PHR access control scheme under Cloud computing environments is proposed in this study. With Lagrange interpolation polynomial to establish a secure and effective PHR information access scheme, it allows to accurately access to PHR with security and is suitable for enormous multi-users. Moreover, this scheme also dynamically supports multi-users in Cloud computing environments with personal privacy and offers legal authorities to access to PHR. From security and effectiveness analyses, the proposed PHR access
Closed-loop adaptive control for torsional micromirrors
NASA Astrophysics Data System (ADS)
Liao, Ke-Min; Wang, Yi-Chih; Yeh, Chih-Hsien; Chen, Rongshun
2004-01-01
An adaptive control scheme to achieve accurate positioning and trajectory tracking of torsional micromirror is presented in this study. The torsional micromirror is fabricated by using surface micromachining processes, in which phosphorusdoped polysilicon is employed as the structure layer as well as the bottom electrode. Generally, every fabrication step contributes to imperfections in micromirror. The proposed adaptive self-tuning controller has advantages of on-line compensating parameter variations or model uncertainty of the torsional micromirror, resulting from fabrication imperfections that produce asymmetric structures, misalignment of actuation mechanism, and deviations of the center of mass from the geometric center. In our design, the amount of detection of differential capacitance between the left and right electrodes at the femtofarad (fF) level is utilized as feedback signals. Simulation results show that the designed controller has better transient response compared to the PID control scheme. The micromirror can follow the reference trajectory (5 kHz) with acceptable error in several microseconds, thus the convergence of the controller is confirmed. Furthermore, the unknown model parameters can be identified correctly while the so-called persistent excitation condition is satisfied.
Adaptive Inner-Loop Rover Control
NASA Technical Reports Server (NTRS)
Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.
2006-01-01
Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.
Security Encryption Scheme for Communication of Web Based Control Systems
NASA Astrophysics Data System (ADS)
Robles, Rosslin John; Kim, Tai-Hoon
A control system is a device or set of devices to manage, command, direct or regulate the behavior of other devices or systems. The trend in most systems is that they are connected through the Internet. Traditional Supervisory Control and Data Acquisition Systems (SCADA) is connected only in a limited private network Since the internet Supervisory Control and Data Acquisition Systems (SCADA) facility has brought a lot of advantages in terms of control, data viewing and generation. Along with these advantages, are security issues regarding web SCADA, operators are pushed to connect Control Systems through the internet. Because of this, many issues regarding security surfaced. In this paper, we discuss web SCADA and the issues regarding security. As a countermeasure, a web SCADA security solution using crossed-crypto-scheme is proposed to be used in the communication of SCADA components.
Wang, Shun-Yuan; Tseng, Chwan-Lu; Lin, Shou-Chuang; Chiu, Chun-Jung; Chou, Jen-Hsiang
2015-01-01
This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC) in the speed sensorless vector control of an induction motor (IM) drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes—the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC—were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE) was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes. PMID:25815450
Adaptively Refined Euler and Navier-Stokes Solutions with a Cartesian-Cell Based Scheme
NASA Technical Reports Server (NTRS)
Coirier, William J.; Powell, Kenneth G.
1995-01-01
A Cartesian-cell based scheme with adaptive mesh refinement for solving the Euler and Navier-Stokes equations in two dimensions has been developed and tested. Grids about geometrically complicated bodies were generated automatically, by recursive subdivision of a single Cartesian cell encompassing the entire flow domain. Where the resulting cells intersect bodies, N-sided 'cut' cells were created using polygon-clipping algorithms. The grid was stored in a binary-tree data structure which provided a natural means of obtaining cell-to-cell connectivity and of carrying out solution-adaptive mesh refinement. The Euler and Navier-Stokes equations were solved on the resulting grids using an upwind, finite-volume formulation. The inviscid fluxes were found in an upwinded manner using a linear reconstruction of the cell primitives, providing the input states to an approximate Riemann solver. The viscous fluxes were formed using a Green-Gauss type of reconstruction upon a co-volume surrounding the cell interface. Data at the vertices of this co-volume were found in a linearly K-exact manner, which ensured linear K-exactness of the gradients. Adaptively-refined solutions for the inviscid flow about a four-element airfoil (test case 3) were compared to theory. Laminar, adaptively-refined solutions were compared to accepted computational, experimental and theoretical results.
Adaptive Control Strategies for Flexible Robotic Arm
NASA Technical Reports Server (NTRS)
Bialasiewicz, Jan T.
1996-01-01
The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.
Mondal, Sanjoy; Mahanta, Chitralekha
2013-05-01
In this paper, a chattering free adaptive sliding mode controller (SMC) is proposed for stabilizing a class of multi-input multi-output (MIMO) systems affected by both matched and mismatched types of uncertainties. The proposed controller uses a proportional plus integral sliding surface whose gain is adaptively tuned to prevent overestimation. A vertical take-off and landing (VTOL) aircraft system is simulated to demonstrate the effectiveness of the proposed control scheme. PMID:23357555
Numerical dissipation control in high order shock-capturing schemes for LES of low speed flows
NASA Astrophysics Data System (ADS)
Kotov, D. V.; Yee, H. C.; Wray, A. A.; Sjögreen, B.; Kritsuk, A. G.
2016-02-01
The Yee & Sjögreen adaptive numerical dissipation control in high order scheme (High Order Filter Methods for Wide Range of Compressible Flow Speeds, ICOSAHOM 09, 2009) is further improved for DNS and LES of shock-free turbulence and low speed turbulence with shocklets. There are vastly different requirements in the minimization of numerical dissipation for accurate turbulence simulations of different compressible flow types and flow speeds. Traditionally, the method of choice for shock-free turbulence and low speed turbulence are by spectral, high order central or high order compact schemes with high order linear filters. With a proper control of a local flow sensor, appropriate amount of numerical dissipation in high order shock-capturing schemes can have spectral-like accuracy for compressible low speed turbulent flows. The development of the method includes an adaptive flow sensor with automatic selection on the amount of numerical dissipation needed at each flow location for more accurate DNS and LES simulations with less tuning of parameters for flows with a wide range of flow speed regime during the time-accurate evolution, e.g., time varying random forcing. An automatic selection of the different flow sensors catered to the different flow types is constructed. A Mach curve and high-frequency oscillation indicators are used to reduce the tuning of parameters in controlling the amount of shock-capturing numerical dissipation to be employed for shock-free turbulence, low speed turbulence and turbulence with strong shocks. In Kotov et al. (High Order Numerical Methods for LES of Turbulent Flows with Shocks, ICCFD8, Chengdu, Sichuan, China, July 14-18, 2014) the LES of a turbulent flow with a strong shock by the Yee & Sjögreen scheme indicated a good agreement with the filtered DNS data. A work in progress for the application of the adaptive flow sensor for compressible turbulence with time-varying random forcing is forthcoming. The present study examines the
Language control in bilinguals: The adaptive control hypothesis
Abutalebi, Jubin
2013-01-01
Speech comprehension and production are governed by control processes. We explore their nature and dynamics in bilingual speakers with a focus on speech production. Prior research indicates that individuals increase cognitive control in order to achieve a desired goal. In the adaptive control hypothesis we propose a stronger hypothesis: Language control processes themselves adapt to the recurrent demands placed on them by the interactional context. Adapting a control process means changing a parameter or parameters about the way it works (its neural capacity or efficiency) or the way it works in concert, or in cascade, with other control processes (e.g., its connectedness). We distinguish eight control processes (goal maintenance, conflict monitoring, interference suppression, salient cue detection, selective response inhibition, task disengagement, task engagement, opportunistic planning). We consider the demands on these processes imposed by three interactional contexts (single language, dual language, and dense code-switching). We predict adaptive changes in the neural regions and circuits associated with specific control processes. A dual-language context, for example, is predicted to lead to the adaptation of a circuit mediating a cascade of control processes that circumvents a control dilemma. Effective test of the adaptive control hypothesis requires behavioural and neuroimaging work that assesses language control in a range of tasks within the same individual. PMID:25077013
Language control in bilinguals: The adaptive control hypothesis.
Green, David W; Abutalebi, Jubin
2013-08-01
Speech comprehension and production are governed by control processes. We explore their nature and dynamics in bilingual speakers with a focus on speech production. Prior research indicates that individuals increase cognitive control in order to achieve a desired goal. In the adaptive control hypothesis we propose a stronger hypothesis: Language control processes themselves adapt to the recurrent demands placed on them by the interactional context. Adapting a control process means changing a parameter or parameters about the way it works (its neural capacity or efficiency) or the way it works in concert, or in cascade, with other control processes (e.g., its connectedness). We distinguish eight control processes (goal maintenance, conflict monitoring, interference suppression, salient cue detection, selective response inhibition, task disengagement, task engagement, opportunistic planning). We consider the demands on these processes imposed by three interactional contexts (single language, dual language, and dense code-switching). We predict adaptive changes in the neural regions and circuits associated with specific control processes. A dual-language context, for example, is predicted to lead to the adaptation of a circuit mediating a cascade of control processes that circumvents a control dilemma. Effective test of the adaptive control hypothesis requires behavioural and neuroimaging work that assesses language control in a range of tasks within the same individual. PMID:25077013
Adaptive gain control during human perceptual choice
Cheadle, Samuel; Wyart, Valentin; Tsetsos, Konstantinos; Myers, Nicholas; de Gardelle, Vincent; Castañón, Santiago Herce; Summerfield, Christopher
2015-01-01
Neural systems adapt to background levels of stimulation. Adaptive gain control has been extensively studied in sensory systems, but overlooked in decision-theoretic models. Here, we describe evidence for adaptive gain control during the serial integration of decision-relevant information. Human observers judged the average information provided by a rapid stream of visual events (samples). The impact that each sample wielded over choices depended on its consistency with the previous sample, with more consistent or expected samples wielding the greatest influence over choice. This bias was also visible in the encoding of decision information in pupillometric signals, and in cortical responses measured with functional neuroimaging. These data can be accounted for with a new serial sampling model in which the gain of information processing adapts rapidly to reflect the average of the available evidence. PMID:24656259
The adaptive GRP scheme for compressible fluid flows over unstructured meshes
NASA Astrophysics Data System (ADS)
Li, Jiequan; Zhang, Yongjin
2013-06-01
Unstructured mesh methods have attracted much attention in CFD community due to the flexibility for dealing with complex geometries and the ability to easily incorporate adaptive (moving) mesh strategies. When the finite volume framework is applied, a reliable solver is crucial for the construction of numerical fluxes, for which the generalized Riemann problem (GRP) scheme undertakes such a task in the sense of second order accuracy. Combining these techniques yields a second order accurate adaptive generalized Riemann problem (AGRP) scheme for two dimensional compressible fluid flows over unstructured triangular meshes. Besides the generation of meshes, the main process of this combination consists of two ingredients: Fluid dynamical evolution and mesh redistribution. The fluid dynamical evolution ingredient serves to evolve the compressible fluid flows on a fixed nonuniform triangular mesh with the direct Eulerian GRP solver. The role of the mesh redistribution is to redistribute mesh points on which a conservative interpolation formula is adopted to calculate the cell-averages for the conservative variables, and the gradients of primitive variables are reconstructed using the least squares method. Several examples are taken from various contexts to demonstrate the performance of such a program.
Adaptive output feedback control of flexible systems
NASA Astrophysics Data System (ADS)
Yang, Bong-Jun
Neural network-based adaptive output feedback approaches that augment a linear control design are described in this thesis, and emphasis is placed on their real-time implementation with flexible systems. Two different control architectures that are robust to parametric uncertainties and unmodelled dynamics are presented. The unmodelled effects can consist of minimum phase internal dynamics of the system together with external disturbance process. Within this context, adaptive compensation for external disturbances is addressed. In the first approach, internal model-following control, adaptive elements are designed using feedback inversion. The effect of an actuator limit is treated using control hedging, and the effect of other actuation nonlinearities, such as dead zone and backlash, is mitigated by a disturbance observer-based control design. The effectiveness of the approach is illustrated through simulation and experimental testing with a three-disk torsional system, which is subjected to control voltage limit and stiction. While the internal model-following control is limited to minimum phase systems, the second approach, external model-following control, does not involve feedback linearization and can be applied to non-minimum phase systems. The unstable zero dynamics are assumed to have been modelled in the design of the existing linear controller. The laboratory tests for this method include a three-disk torsional pendulum, an inverted pendulum, and a flexible-base robot manipulator. The external model-following control architecture is further extended in three ways. The first extension is an approach for control of multivariable nonlinear systems. The second extension is a decentralized adaptive control approach for large-scale interconnected systems. The third extension is to make use of an adaptive observer to augment a linear observer-based controller. In this extension, augmenting terms for the adaptive observer can be used to achieve adaptation in
Adaptive Modal Identification for Flutter Suppression Control
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.; Drew, Michael; Swei, Sean S.
2016-01-01
In this paper, we will develop an adaptive modal identification method for identifying the frequencies and damping of a flutter mode based on model-reference adaptive control (MRAC) and least-squares methods. The least-squares parameter estimation will achieve parameter convergence in the presence of persistent excitation whereas the MRAC parameter estimation does not guarantee parameter convergence. Two adaptive flutter suppression control approaches are developed: one based on MRAC and the other based on the least-squares method. The MRAC flutter suppression control is designed as an integral part of the parameter estimation where the feedback signal is used to estimate the modal information. On the other hand, the separation principle of control and estimation is applied to the least-squares method. The least-squares modal identification is used to perform parameter estimation.
Dual adaptive control: Design principles and applications
NASA Technical Reports Server (NTRS)
Mookerjee, Purusottam
1988-01-01
The design of an actively adaptive dual controller based on an approximation of the stochastic dynamic programming equation for a multi-step horizon is presented. A dual controller that can enhance identification of the system while controlling it at the same time is derived for multi-dimensional problems. This dual controller uses sensitivity functions of the expected future cost with respect to the parameter uncertainties. A passively adaptive cautious controller and the actively adaptive dual controller are examined. In many instances, the cautious controller is seen to turn off while the latter avoids the turn-off of the control and the slow convergence of the parameter estimates, characteristic of the cautious controller. The algorithms have been applied to a multi-variable static model which represents a simplified linear version of the relationship between the vibration output and the higher harmonic control input for a helicopter. Monte Carlo comparisons based on parametric and nonparametric statistical analysis indicate the superiority of the dual controller over the baseline controller.
An adaptive high-order hybrid scheme for compressive, viscous flows with detailed chemistry
NASA Astrophysics Data System (ADS)
Ziegler, Jack L.; Deiterding, Ralf; Shepherd, Joseph E.; Pullin, D. I.
2011-08-01
A hybrid weighted essentially non-oscillatory (WENO)/centered-difference numerical method, with low numerical dissipation, high-order shock-capturing, and structured adaptive mesh refinement (SAMR), has been developed for the direct numerical simulation of the multicomponent, compressible, reactive Navier-Stokes equations. The method enables accurate resolution of diffusive processes within reaction zones. The approach combines time-split reactive source terms with a high-order, shock-capturing scheme specifically designed for diffusive flows. A description of the order-optimized, symmetric, finite difference, flux-based, hybrid WENO/centered-difference scheme is given, along with its implementation in a high-order SAMR framework. The implementation of new techniques for discontinuity flagging, scheme-switching, and high-order prolongation and restriction is described. In particular, the refined methodology does not require upwinded WENO at grid refinement interfaces for stability, allowing high-order prolongation and thereby eliminating a significant source of numerical diffusion within the overall code performance. A series of one-and two-dimensional test problems is used to verify the implementation, specifically the high-order accuracy of the diffusion terms. One-dimensional benchmarks include a viscous shock wave and a laminar flame. In two-space dimensions, a Lamb-Oseen vortex and an unstable diffusive detonation are considered, for which quantitative convergence is demonstrated. Further, a two-dimensional high-resolution simulation of a reactive Mach reflection phenomenon with diffusive multi-species mixing is presented.
Dynamic adaptive chemistry with operator splitting schemes for reactive flow simulations
NASA Astrophysics Data System (ADS)
Ren, Zhuyin; Xu, Chao; Lu, Tianfeng; Singer, Michael A.
2014-04-01
A numerical technique that uses dynamic adaptive chemistry (DAC) with operator splitting schemes to solve the equations governing reactive flows is developed and demonstrated. Strang-based splitting schemes are used to separate the governing equations into transport fractional substeps and chemical reaction fractional substeps. The DAC method expedites the numerical integration of reaction fractional substeps by using locally valid skeletal mechanisms that are obtained using the directed relation graph (DRG) reduction method to eliminate unimportant species and reactions from the full mechanism. Second-order temporal accuracy of the Strang-based splitting schemes with DAC is demonstrated on one-dimensional, unsteady, freely-propagating, premixed methane/air laminar flames with detailed chemical kinetics and realistic transport. The use of DAC dramatically reduces the CPU time required to perform the simulation, and there is minimal impact on solution accuracy. It is shown that with DAC the starting species and resulting skeletal mechanisms strongly depend on the local composition in the flames. In addition, the number of retained species may be significant only near the flame front region where chemical reactions are significant. For the one-dimensional methane/air flame considered, speed-up factors of three and five are achieved over the entire simulation for GRI-Mech 3.0 and USC-Mech II, respectively. Greater speed-up factors are expected for larger chemical kinetics mechanisms.
Study on Noise Prediction Model and Control Schemes for Substation
Gao, Yang; Liu, Songtao
2014-01-01
With the government's emphasis on environmental issues of power transmission and transformation project, noise pollution has become a prominent problem now. The noise from the working transformer, reactor, and other electrical equipment in the substation will bring negative effect to the ambient environment. This paper focuses on using acoustic software for the simulation and calculation method to control substation noise. According to the characteristics of the substation noise and the techniques of noise reduction, a substation's acoustic field model was established with the SoundPLAN software to predict the scope of substation noise. On this basis, 4 reasonable noise control schemes were advanced to provide some helpful references for noise control during the new substation's design and construction process. And the feasibility and application effect of these control schemes can be verified by using the method of simulation modeling. The simulation results show that the substation always has the problem of excessive noise at boundary under the conventional measures. The excess noise can be efficiently reduced by taking the corresponding noise reduction methods. PMID:24672356
Study on noise prediction model and control schemes for substation.
Chen, Chuanmin; Gao, Yang; Liu, Songtao
2014-01-01
With the government's emphasis on environmental issues of power transmission and transformation project, noise pollution has become a prominent problem now. The noise from the working transformer, reactor, and other electrical equipment in the substation will bring negative effect to the ambient environment. This paper focuses on using acoustic software for the simulation and calculation method to control substation noise. According to the characteristics of the substation noise and the techniques of noise reduction, a substation's acoustic field model was established with the SoundPLAN software to predict the scope of substation noise. On this basis, 4 reasonable noise control schemes were advanced to provide some helpful references for noise control during the new substation's design and construction process. And the feasibility and application effect of these control schemes can be verified by using the method of simulation modeling. The simulation results show that the substation always has the problem of excessive noise at boundary under the conventional measures. The excess noise can be efficiently reduced by taking the corresponding noise reduction methods. PMID:24672356
Non-linear adaptive sliding mode switching control with average dwell-time
NASA Astrophysics Data System (ADS)
Yu, Lei; Zhang, Maoqing; Fei, Shumin
2013-03-01
In this article, an adaptive integral sliding mode control scheme is addressed for switched non-linear systems in the presence of model uncertainties and external disturbances. The control law includes two parts: a slide mode controller for the reduced model of the plant and a compensation controller to deal with the non-linear systems with parameter uncertainties. The adaptive updated laws have been derived from the switched multiple Lyapunov function method, also an admissible switching signal with average dwell-time technique is given. The simplicity of the proposed control scheme facilitates its implementation and the overall control scheme guarantees the global asymptotic stability in the Lyapunov sense such that the sliding surface of the control system is well reached. Simulation results are presented to demonstrate the effectiveness and the feasibility of the proposed approach.
Hybrid adaptive ascent flight control for a flexible launch vehicle
NASA Astrophysics Data System (ADS)
Lefevre, Brian D.
For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the
Adaptive neural control of aeroelastic response
NASA Astrophysics Data System (ADS)
Lichtenwalner, Peter F.; Little, Gerald R.; Scott, Robert C.
1996-05-01
The Adaptive Neural Control of Aeroelastic Response (ANCAR) program is a joint research and development effort conducted by McDonnell Douglas Aerospace (MDA) and the National Aeronautics and Space Administration, Langley Research Center (NASA LaRC) under a Memorandum of Agreement (MOA). The purpose of the MOA is to cooperatively develop the smart structure technologies necessary for alleviating undesirable vibration and aeroelastic response associated with highly flexible structures. Adaptive control can reduce aeroelastic response associated with buffet and atmospheric turbulence, it can increase flutter margins, and it may be able to reduce response associated with nonlinear phenomenon like limit cycle oscillations. By reducing vibration levels and loads, aircraft structures can have lower acquisition cost, reduced maintenance, and extended lifetimes. Phase I of the ANCAR program involved development and demonstration of a neural network-based semi-adaptive flutter suppression system which used a neural network for scheduling control laws as a function of Mach number and dynamic pressure. This controller was tested along with a robust fixed-gain control law in NASA's Transonic Dynamics Tunnel (TDT) utilizing the Benchmark Active Controls Testing (BACT) wing. During Phase II, a fully adaptive on-line learning neural network control system has been developed for flutter suppression which will be tested in 1996. This paper presents the results of Phase I testing as well as the development progress of Phase II.
Adaptive neural control of spacecraft using control moment gyros
NASA Astrophysics Data System (ADS)
Leeghim, Henzeh; Kim, Donghoon
2015-03-01
An adaptive control technique is applied to reorient spacecraft with uncertainty using control moment gyros. A nonlinear quaternion feedback law is chosen as a baseline controller. An additional adaptive control input supported by neural networks can estimate and eliminate unknown terms adaptively. The normalized input neural networks are considered for reliable computation of the adaptive input. To prove the stability of the closed-loop dynamics with the control law, the Lyapunov stability theory is considered. Accordingly, the proposed approach results in the uniform ultimate boundedness in tracking error. For reorientation maneuvers, control moment gyros are utilized with a well-known singularity problem described in this work investigated by predicting one-step ahead singularity index. A momentum vector recovery approach using magnetic torquers is also introduced to evaluate the avoidance strategies indirectly. Finally, the suggested methods are demonstrated by numerical simulation studies.
Scheduling and adaptation of London's future water supply and demand schemes under uncertainty
NASA Astrophysics Data System (ADS)
Huskova, Ivana; Matrosov, Evgenii S.; Harou, Julien J.; Kasprzyk, Joseph R.; Reed, Patrick M.
2015-04-01
The changing needs of society and the uncertainty of future conditions complicate the planning of future water infrastructure and its operating policies. These systems must meet the multi-sector demands of a range of stakeholders whose objectives often conflict. Understanding these conflicts requires exploring many alternative plans to identify possible compromise solutions and important system trade-offs. The uncertainties associated with future conditions such as climate change and population growth challenge the decision making process. Ideally planners should consider portfolios of supply and demand management schemes represented as dynamic trajectories over time able to adapt to the changing environment whilst considering many system goals and plausible futures. Decisions can be scheduled and adapted over the planning period to minimize the present cost of portfolios while maintaining the supply-demand balance and ecosystem services as the future unfolds. Yet such plans are difficult to identify due to the large number of alternative plans to choose from, the uncertainty of future conditions and the computational complexity of such problems. Our study optimizes London's future water supply system investments as well as their scheduling and adaptation over time using many-objective scenario optimization, an efficient water resource system simulator, and visual analytics for exploring key system trade-offs. The solutions are compared to Pareto approximate portfolios obtained from previous work where the composition of infrastructure portfolios that did not change over the planning period. We explore how the visual analysis of solutions can aid decision making by investigating the implied performance trade-offs and how the individual schemes and their trajectories present in the Pareto approximate portfolios affect the system's behaviour. By doing so decision makers are given the opportunity to decide the balance between many system goals a posteriori as well as
NASA Astrophysics Data System (ADS)
Pathak, Harshavardhana S.; Shukla, Ratnesh K.
2016-08-01
A high-order adaptive finite-volume method is presented for simulating inviscid compressible flows on time-dependent redistributed grids. The method achieves dynamic adaptation through a combination of time-dependent mesh node clustering in regions characterized by strong solution gradients and an optimal selection of the order of accuracy and the associated reconstruction stencil in a conservative finite-volume framework. This combined approach maximizes spatial resolution in discontinuous regions that require low-order approximations for oscillation-free shock capturing. Over smooth regions, high-order discretization through finite-volume WENO schemes minimizes numerical dissipation and provides excellent resolution of intricate flow features. The method including the moving mesh equations and the compressible flow solver is formulated entirely on a transformed time-independent computational domain discretized using a simple uniform Cartesian mesh. Approximations for the metric terms that enforce discrete geometric conservation law while preserving the fourth-order accuracy of the two-point Gaussian quadrature rule are developed. Spurious Cartesian grid induced shock instabilities such as carbuncles that feature in a local one-dimensional contact capturing treatment along the cell face normals are effectively eliminated through upwind flux calculation using a rotated Hartex-Lax-van Leer contact resolving (HLLC) approximate Riemann solver for the Euler equations in generalized coordinates. Numerical experiments with the fifth and ninth-order WENO reconstructions at the two-point Gaussian quadrature nodes, over a range of challenging test cases, indicate that the redistributed mesh effectively adapts to the dynamic flow gradients thereby improving the solution accuracy substantially even when the initial starting mesh is non-adaptive. The high adaptivity combined with the fifth and especially the ninth-order WENO reconstruction allows remarkably sharp capture of