Further Results on Finite-Time Partial Stability and Stabilization. Applications to Nonlinear Control Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Jammazi, Chaker

2009-03-05

The paper gives Lyapunov type sufficient conditions for partial finite-time and asymptotic stability in which some state variables converge to zero while the rest converge to constant values that possibly depend on the initial conditions. The paper then presents partially asymptotically stabilizing controllers for many nonlinear control systems for which continuous asymptotically stabilizing (in the usual sense) controllers are known not to exist.

The Absolute Stability Analysis in Fuzzy Control Systems with Parametric Uncertainties and Reference Inputs

NASA Astrophysics Data System (ADS)

Wu, Bing-Fei; Ma, Li-Shan; Perng, Jau-Woei

This study analyzes the absolute stability in P and PD type fuzzy logic control systems with both certain and uncertain linear plants. Stability analysis includes the reference input, actuator gain and interval plant parameters. For certain linear plants, the stability (i.e. the stable equilibriums of error) in P and PD types is analyzed with the Popov or linearization methods under various reference inputs and actuator gains. The steady state errors of fuzzy control systems are also addressed in the parameter plane. The parametric robust Popov criterion for parametric absolute stability based on Lur'e systems is also applied to the stability analysis of P type fuzzy control systems with uncertain plants. The PD type fuzzy logic controller in our approach is a single-input fuzzy logic controller and is transformed into the P type for analysis. In our work, the absolute stability analysis of fuzzy control systems is given with respect to a non-zero reference input and an uncertain linear plant with the parametric robust Popov criterion unlike previous works. Moreover, a fuzzy current controlled RC circuit is designed with PSPICE models. Both numerical and PSPICE simulations are provided to verify the analytical results. Furthermore, the oscillation mechanism in fuzzy control systems is specified with various equilibrium points of view in the simulation example. Finally, the comparisons are also given to show the effectiveness of the analysis method.

Nonlinear neural control with power systems applications

NASA Astrophysics Data System (ADS)

Chen, Dingguo

1998-12-01

Extensive studies have been undertaken on the transient stability of large interconnected power systems with flexible ac transmission systems (FACTS) devices installed. Varieties of control methodologies have been proposed to stabilize the postfault system which would otherwise eventually lose stability without a proper control. Generally speaking, regular transient stability is well understood, but the mechanism of load-driven voltage instability or voltage collapse has not been well understood. The interaction of generator dynamics and load dynamics makes synthesis of stabilizing controllers even more challenging. There is currently increasing interest in the research of neural networks as identifiers and controllers for dealing with dynamic time-varying nonlinear systems. This study focuses on the development of novel artificial neural network architectures for identification and control with application to dynamic electric power systems so that the stability of the interconnected power systems, following large disturbances, and/or with the inclusion of uncertain loads, can be largely enhanced, and stable operations are guaranteed. The latitudinal neural network architecture is proposed for the purpose of system identification. It may be used for identification of nonlinear static/dynamic loads, which can be further used for static/dynamic voltage stability analysis. The properties associated with this architecture are investigated. A neural network methodology is proposed for dealing with load modeling and voltage stability analysis. Based on the neural network models of loads, voltage stability analysis evolves, and modal analysis is performed. Simulation results are also provided. The transient stability problem is studied with consideration of load effects. The hierarchical neural control scheme is developed. Trajectory-following policy is used so that the hierarchical neural controller performs as almost well for non-nominal cases as they do for the nominal cases. The adaptive hierarchical neural control scheme is also proposed to deal with the time-varying nature of loads. Further, adaptive neural control, which is based on the on-line updating of the weights and biases of the neural networks, is studied. Simulations provided on the faulted power systems with unknown loads suggest that the proposed adaptive hierarchical neural control schemes should be useful for practical power applications.

Nonlinear power flow feedback control for improved stability and performance of airfoil sections

DOEpatents

Wilson, David G.; Robinett, III, Rush D.

2013-09-03

A computer-implemented method of determining the pitch stability of an airfoil system, comprising using a computer to numerically integrate a differential equation of motion that includes terms describing PID controller action. In one model, the differential equation characterizes the time-dependent response of the airfoil's pitch angle, .alpha.. The computer model calculates limit-cycles of the model, which represent the stability boundaries of the airfoil system. Once the stability boundary is known, feedback control can be implemented, by using, for example, a PID controller to control a feedback actuator. The method allows the PID controller gain constants, K.sub.I, K.sub.p, and K.sub.d, to be optimized. This permits operation closer to the stability boundaries, while preventing the physical apparatus from unintentionally crossing the stability boundaries. Operating closer to the stability boundaries permits greater power efficiencies to be extracted from the airfoil system.

Spacecraft stability and control

NASA Technical Reports Server (NTRS)

Barret, Chris

1992-01-01

The Earth's first artificial satellite, Sputnik 1, slowly tumbled in orbit. The first U.S. satellite, Explorer 1, also tumbled out of control. Today, satellite stability and control has become a higher priority. For a satellite design that is to have a life expectancy of 14 years, appropriate spacecraft flight control systems will be reviewed, stability requirements investigated, and an appropriate flight control system recommended in order to see the design process. Disturbance torques, including aerodynamic, magnetic, gravity gradient, solar, micrometeorite, debris, collision, and internal torques, will be assessed to quantify the disturbance environment so that the required compensating torques can be determined. The control torques, including passive versus active, momentum control, bias momentum, spin stabilization, dual spin, gravity gradient, magnetic, reaction wheels, control moment gyros, inertia augmentation techniques, three-axis control, and reaction control systems (RCSs), will be considered. Conditions for stability will also be considered.

LMI-based stability and performance conditions for continuous-time nonlinear systems in Takagi-Sugeno's form.

PubMed

Lam, H K; Leung, Frank H F

2007-10-01

This correspondence presents the stability analysis and performance design of the continuous-time fuzzy-model-based control systems. The idea of the nonparallel-distributed-compensation (non-PDC) control laws is extended to the continuous-time fuzzy-model-based control systems. A nonlinear controller with non-PDC control laws is proposed to stabilize the continuous-time nonlinear systems in Takagi-Sugeno's form. To produce the stability-analysis result, a parameter-dependent Lyapunov function (PDLF) is employed. However, two difficulties are usually encountered: 1) the time-derivative terms produced by the PDLF will complicate the stability analysis and 2) the stability conditions are not in the form of linear-matrix inequalities (LMIs) that aid the design of feedback gains. To tackle the first difficulty, the time-derivative terms are represented by some weighted-sum terms in some existing approaches, which will increase the number of stability conditions significantly. In view of the second difficulty, some positive-definitive terms are added in order to cast the stability conditions into LMIs. In this correspondence, the favorable properties of the membership functions and nonlinear control laws, which allow the introduction of some free matrices, are employed to alleviate the two difficulties while retaining the favorable properties of PDLF-based approach. LMI-based stability conditions are derived to ensure the system stability. Furthermore, based on a common scalar performance index, LMI-based performance conditions are derived to guarantee the system performance. Simulation examples are given to illustrate the effectiveness of the proposed approach.

Research on Design of MUH Attitude Stability Augmentation Control System

NASA Astrophysics Data System (ADS)

Fan, Shigang

2017-09-01

Attitude stability augmentation control system with a lower cost need to be designed so that MUH (Mini Unmanned Helicopter) can adapt to different types of geographic environment and fly steadily although the weather may be bad. Attitude feedback was calculated mainly by filtering estimation within attitude acquisition module in this system. Stability augmentation can be improved mainly by PI. This paper will depict running principle and designing process of MUH attitude stability augmentation control system and algorithm that is considered as an important part in this system.

NL(q) Theory: A Neural Control Framework with Global Asymptotic Stability Criteria.

PubMed

Vandewalle, Joos; De Moor, Bart L.R.; Suykens, Johan A.K.

1997-06-01

In this paper a framework for model-based neural control design is presented, consisting of nonlinear state space models and controllers, parametrized by multilayer feedforward neural networks. The models and closed-loop systems are transformed into so-called NL(q) system form. NL(q) systems represent a large class of nonlinear dynamical systems consisting of q layers with alternating linear and static nonlinear operators that satisfy a sector condition. For such NL(q)s sufficient conditions for global asymptotic stability, input/output stability (dissipativity with finite L(2)-gain) and robust stability and performance are presented. The stability criteria are expressed as linear matrix inequalities. In the analysis problem it is shown how stability of a given controller can be checked. In the synthesis problem two methods for neural control design are discussed. In the first method Narendra's dynamic backpropagation for tracking on a set of specific reference inputs is modified with an NL(q) stability constraint in order to ensure, e.g., closed-loop stability. In a second method control design is done without tracking on specific reference inputs, but based on the input/output stability criteria itself, within a standard plant framework as this is done, for example, in H( infinity ) control theory and &mgr; theory. Copyright 1997 Elsevier Science Ltd.

Robust Stability and Control of Multi-Body Ground Vehicles with Uncertain Dynamics and Failures

DTIC Science & Technology

2010-01-01

and N. Zhang, 2008. “Robust stability control of vehicle rollover subject to actuator time delay”. Proc. IMechE Part I: J. of systems and control ...Dynamic Systems and Control Conference, Boston, MA, Sept 2010 R.K. Yedavalli,”Robust Stability of Linear Interval Parameter Matrix Family Problem...for control coupled output regulation for a class of systems is presented. In section 2.1.7, the control design algorithm developed in section

A model of neuro-musculo-skeletal system for human locomotion under position constraint condition.

PubMed

Ni, Jiangsheng; Hiramatsu, Seiji; Kato, Atsuo

2003-08-01

The human locomotion was studied on the basis of the interaction of the musculo-skeletal system, the neural system and the environment. A mathematical model of human locomotion under position constraint condition was established. Besides the neural rhythm generator, the posture controller and the sensory system, the environment feedback controller and the stability controller were taken into account in the model. The environment feedback controller was proposed for two purposes, obstacle avoidance and target position control of the swing foot. The stability controller was proposed to imitate the self-balancing ability of a human body and improve the stability of the model. In the stability controller, the ankle torque was used to control the velocity of the body gravity center. A prediction control algorithm was applied to calculate the torque magnitude of the stability controller. As an example, human stairs climbing movement was simulated and the results were given. The simulation result proved that the mathematical modeling of the task was successful.

Composite fuzzy sliding mode control of nonlinear singularly perturbed systems.

PubMed

Nagarale, Ravindrakumar M; Patre, B M

2014-05-01

This paper deals with the robust asymptotic stabilization for a class of nonlinear singularly perturbed systems using the fuzzy sliding mode control technique. In the proposed approach the original system is decomposed into two subsystems as slow and fast models by the singularly perturbed method. The composite fuzzy sliding mode controller is designed for stabilizing the full order system by combining separately designed slow and fast fuzzy sliding mode controllers. The two-time scale design approach minimizes the effect of boundary layer system on the full order system. A stability analysis allows us to provide sufficient conditions for the asymptotic stability of the full order closed-loop system. The simulation results show improved system performance of the proposed controller as compared to existing methods. The experimentation results validate the effectiveness of the proposed controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Stabilization of model-based networked control systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Miranda, Francisco; Instituto Politécnico de Viana do Castelo, Viana do Castelo; Abreu, Carlos

2016-06-08

A class of networked control systems called Model-Based Networked Control Systems (MB-NCSs) is considered. Stabilization of MB-NCSs is studied using feedback controls and simulation of stabilization for different feedbacks is made with the purpose to reduce the network trafic. The feedback control input is applied in a compensated model of the plant that approximates the plant dynamics and stabilizes the plant even under slow network conditions. Conditions for global exponential stabilizability and for the choosing of a feedback control input for a given constant time between the information moments of the network are derived. An optimal control problem to obtainmore » an optimal feedback control is also presented.« less

Robust control with structured perturbations

NASA Technical Reports Server (NTRS)

Keel, Leehyun

1988-01-01

Two important problems in the area of control systems design and analysis are discussed. The first is the robust stability using characteristic polynomial, which is treated first in characteristic polynomial coefficient space with respect to perturbations in the coefficients of the characteristic polynomial, and then for a control system containing perturbed parameters in the transfer function description of the plant. In coefficient space, a simple expression is first given for the l(sup 2) stability margin for both monic and non-monic cases. Following this, a method is extended to reveal much larger stability region. This result has been extended to the parameter space so that one can determine the stability margin, in terms of ranges of parameter variations, of the closed loop system when the nominal stabilizing controller is given. The stability margin can be enlarged by a choice of better stabilizing controller. The second problem describes the lower order stabilization problem, the motivation of the problem is as follows. Even though the wide range of stabilizing controller design methodologies is available in both the state space and transfer function domains, all of these methods produce unnecessarily high order controllers. In practice, the stabilization is only one of many requirements to be satisfied. Therefore, if the order of a stabilizing controller is excessively high, one can normally expect to have a even higher order controller on the completion of design such as inclusion of dynamic response requirements, etc. Therefore, it is reasonable to have a lowest possible order stabilizing controller first and then adjust the controller to meet additional requirements. The algorithm for designing a lower order stabilizing controller is given. The algorithm does not necessarily produce the minimum order controller; however, the algorithm is theoretically logical and some simulation results show that the algorithm works in general.

Control of nonlinear systems with applications to constrained robots and spacecraft attitude stabilization

NASA Technical Reports Server (NTRS)

Krishnan, Hariharan

1993-01-01

This thesis is organized in two parts. In Part 1, control systems described by a class of nonlinear differential and algebraic equations are introduced. A procedure for local stabilization based on a local state realization is developed. An alternative approach to local stabilization is developed based on a classical linearization of the nonlinear differential-algebraic equations. A theoretical framework is established for solving a tracking problem associated with the differential-algebraic system. First, a simple procedure is developed for the design of a feedback control law which ensures, at least locally, that the tracking error in the closed loop system lies within any given bound if the reference inputs are sufficiently slowly varying. Next, by imposing additional assumptions, a procedure is developed for the design of a feedback control law which ensures that the tracking error in the closed loop system approaches zero exponentially for reference inputs which are not necessarily slowly varying. The control design methodologies are used for simultaneous force and position control in constrained robot systems. The differential-algebraic equations are shown to characterize the slow dynamics of a certain nonlinear control system in nonstandard singularly perturbed form. In Part 2, the attitude stabilization (reorientation) of a rigid spacecraft using only two control torques is considered. First, the case of momentum wheel actuators is considered. The complete spacecraft dynamics are not controllable. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but a discontinuous feedback control strategy is constructed. Next, the case of gas jet actuators is considered. If the uncontrolled principal axis is not an axis of symmetry, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft attitude cannot be asymptotically stabilized using continuous feedback, but a discontinuous stabilizing feedback control strategy is constructed. If the uncontrolled principal axis is an axis of symmetry, the complete spacecraft dynamics cannot be stabilized. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but again a discontinuous feedback control strategy is constructed.

Co-simulation of heavy truck tire dynamics and electronic stability control systems (phase A).

DOT National Transportation Integrated Search

2009-07-01

Electronic stability control (ESC) systems have been proven to be an effective means of preventing instability and loss of control on both passenger vehicles and heavy trucks. In addition, roll stability algorithms are an effective means of reducing ...

New Tools for Hybrid Systems

DTIC Science & Technology

2007-05-02

stability of a class of discrete event systems ", IEEE Transactions on Automatic Control , vol. 39, no. 2... stability , input/output stability , external stability and incremental input/output stability , as they apply to deterministic finite state machine systems ... class of systems , incremental 1/0 stability and external stability are equivalent notions, stronger than the notion of I/O stability . 15. SUBJECT

Robust controller designs for second-order dynamic system: A virtual passive approach

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Phan, Minh

1990-01-01

A robust controller design is presented for second-order dynamic systems. The controller is model-independent and itself is a virtual second-order dynamic system. Conditions on actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize the actual dynamic system. The control gains are interpreted as virtual mass, spring, and dashpot elements that play the same roles as actual physical elements in stability analysis. Position, velocity, and acceleration feedback are considered. Simple examples are provided to illustrate the physical meaning of this controller design.

Complex Dynamical Behavior in Hybrid Systems

DTIC Science & Technology

2012-09-29

stability for a class of hybrid dynamical systems via averaging”, Mathematics of Control , Signals, and Systems , vol. 23, no. 4, pp...no. 7, pp. 1636-1649, 2011. J9. A.R. Teel and L. Marconi, `` Stabilization for a class of minimum phase hybrid systems under an average dwell- time ...functions for L2 and input-to-state stability in a class of quantized control systems ”, 50th IEEE Conference on Decision and Control , Dec.

A class of stabilizing controllers for flexible multibody systems

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.; Kelkar, Atul G.; Maghami, Peiman G.

1995-01-01

The problem of controlling a class of nonlinear multibody flexible space systems consisting of a flexible central body to which a number of articulated appendages are attached is considered. Collocated actuators and sensors are assumed, and global asymptotic stability of such systems is established under a nonlinear dissipative control law. The stability is shown to be robust to unmodeled dynamics and parametric uncertainties. For a special case in which the attitude motion of the central body is small, the system, although still nonlinear, is shown to be stabilized by linear dissipative control laws. Two types of linear controllers are considered: static dissipative (constant gain) and dynamic dissipative. The static dissipative control law is also shown to provide robust stability in the presence of certain classes of actuator and sensor nonlinearities and actuator dynamics. The results obtained for this special case can also be readily applied for controlling single-body linear flexible space structures. For this case, a synthesis technique for the design of a suboptimal dynamic dissipative controller is also presented. The results obtained in this paper are applicable to a broad class of multibody and single-body systems such as flexible multilink manipulators, multipayload space platforms, and space antennas. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems.

Development of a sensitivity analysis technique for multiloop flight control systems

NASA Technical Reports Server (NTRS)

Vaillard, A. H.; Paduano, J.; Downing, D. R.

1985-01-01

This report presents the development and application of a sensitivity analysis technique for multiloop flight control systems. This analysis yields very useful information on the sensitivity of the relative-stability criteria of the control system, with variations or uncertainties in the system and controller elements. The sensitivity analysis technique developed is based on the computation of the singular values and singular-value gradients of a feedback-control system. The method is applicable to single-input/single-output as well as multiloop continuous-control systems. Application to sampled-data systems is also explored. The sensitivity analysis technique was applied to a continuous yaw/roll damper stability augmentation system of a typical business jet, and the results show that the analysis is very useful in determining the system elements which have the largest effect on the relative stability of the closed-loop system. As a secondary product of the research reported here, the relative stability criteria based on the concept of singular values were explored.

Intelligent neural network and fuzzy logic control of industrial and power systems

NASA Astrophysics Data System (ADS)

Kuljaca, Ognjen

The main role played by neural network and fuzzy logic intelligent control algorithms today is to identify and compensate unknown nonlinear system dynamics. There are a number of methods developed, but often the stability analysis of neural network and fuzzy control systems was not provided. This work will meet those problems for the several algorithms. Some more complicated control algorithms included backstepping and adaptive critics will be designed. Nonlinear fuzzy control with nonadaptive fuzzy controllers is also analyzed. An experimental method for determining describing function of SISO fuzzy controller is given. The adaptive neural network tracking controller for an autonomous underwater vehicle is analyzed. A novel stability proof is provided. The implementation of the backstepping neural network controller for the coupled motor drives is described. Analysis and synthesis of adaptive critic neural network control is also provided in the work. Novel tuning laws for the system with action generating neural network and adaptive fuzzy critic are given. Stability proofs are derived for all those control methods. It is shown how these control algorithms and approaches can be used in practical engineering control. Stability proofs are given. Adaptive fuzzy logic control is analyzed. Simulation study is conducted to analyze the behavior of the adaptive fuzzy system on the different environment changes. A novel stability proof for adaptive fuzzy logic systems is given. Also, adaptive elastic fuzzy logic control architecture is described and analyzed. A novel membership function is used for elastic fuzzy logic system. The stability proof is proffered. Adaptive elastic fuzzy logic control is compared with the adaptive nonelastic fuzzy logic control. The work described in this dissertation serves as foundation on which analysis of particular representative industrial systems will be conducted. Also, it gives a good starting point for analysis of learning abilities of adaptive and neural network control systems, as well as for the analysis of the different algorithms such as elastic fuzzy systems.

Control system design method

DOEpatents

Wilson, David G [Tijeras, NM; Robinett, III, Rush D.

2012-02-21

A control system design method and concomitant control system comprising representing a physical apparatus to be controlled as a Hamiltonian system, determining elements of the Hamiltonian system representation which are power generators, power dissipators, and power storage devices, analyzing stability and performance of the Hamiltonian system based on the results of the determining step and determining necessary and sufficient conditions for stability of the Hamiltonian system, creating a stable control system based on the results of the analyzing step, and employing the resulting control system to control the physical apparatus.

Hybrid Control for Multi-Agent Systems in Complex Sensing Environments

DTIC Science & Technology

2012-02-28

controllers , the overall closed-loop system is time -varying but can potentially exhibit better stability and performance... system is time -varying and yet, once 4 feedback-interconnected with a suitable controller , it can potentially yield better stability and performance...resolution Sensing, Control and Switched Systems 13 4 Metric-Based Receding Horizon Control 14 5 Decentralized Control and Finite Wordlength Channels 15

Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

NASA Technical Reports Server (NTRS)

Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith

2015-01-01

Principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters is presented. Both the vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has three main aspects: It summarizes key RCS control System design principles from the Space Shuttle and Space Station programs, it demonstrates a new approach to develop a linear model of a phase plane control system using describing functions, and applies each of these to the initial development of the NASA's next generation of upper stage vehicles. Topics addressed include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and automaneuver logic.

Design of Simulation Product for Stability of Electric Power System Using Power System Stabilizer and Optimal Control

NASA Astrophysics Data System (ADS)

Junaidi, Agus; Hamid, K. Abdul

2018-03-01

This paper will discuss the use of optimal control and Power System Stabilizer (PSS) in improving the oscillation of electric power system. Oscillations in the electric power system can occur due to the sudden release of the load (Switcing-Off). The oscillation of an unstable system for a long time causes the equipment to work in an interruption. To overcome this problem, a control device is required that can work effectively in repairing the oscillation. The power system is modeled from the Single Machine Infinite Bus Model (SMIB). The state space equation is used to mathematically model SMIB. SMIB system which is a plant will be formed togetherness state variables (State-Space), using riccati equation then determined the optimal gain as controller plant. Plant is also controlled by Power Stabilizer System using phase compensation method. Using Matlab Software based simulation will be observed response of rotor speed change and rotor angle change for each of the two controlling methods. Simulation results using the Simulink-MATLAB 6.1 software will compare the analysis of the plant state in Open loop state and use the controller. The simulation response shows that the optimal control and PSS can improve the stability of the power system in terms of acceleration to achieve settling-time and Over Shoot improvement. From the results of both methods are able to improve system performance.

Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing

NASA Astrophysics Data System (ADS)

Sun, Yuming; Wu, Christine Qiong

2012-12-01

Balancing control is important for biped standing. In spite of large efforts, it is very difficult to design balancing control strategies satisfying three requirements simultaneously: maintaining postural stability, improving energy efficiency and satisfying the constraints between the biped feet and the ground. In this article, a proportional-derivative (PD) controller is proposed for a standing biped, which is simplified as a two-link inverted pendulum with one additional rigid foot-link. The genetic algorithm (GA) is used to search for the control gain meeting all three requirements. The stability analysis of such a deterministic biped control system is carried out using the concept of Lyapunov exponents (LEs), based on which, the system stability, where the disturbance comes from the initial states, and the structural stability, where the disturbance comes from the PD gains, are examined quantitively in terms of stability region. This article contributes to the biped balancing control, more significantly, the method shown in the studied case of biped provides a general framework of systematic stability analysis for certain deterministic nonlinear dynamical systems.

Stabilization of a system with saturating, non-monotone hysteresis and frequency dependent power losses by a PD controller

NASA Astrophysics Data System (ADS)

Ekanayake, D. B.; Iyer, R. V.

2015-02-01

We prove the closed loop stability of a PD controller for certain systems with saturating, non-monotone hysteresis and frequency dependent power losses. Most controllers use inverse compensators to cancel out actuator hysteresis nonlinearity. We show that we can achieve stability of the closed-loop system without an explicit inverse computation (using least squares minimization or otherwise).

Decentralization, stabilization, and estimation of large-scale linear systems

NASA Technical Reports Server (NTRS)

Siljak, D. D.; Vukcevic, M. B.

1976-01-01

In this short paper we consider three closely related aspects of large-scale systems: decentralization, stabilization, and estimation. A method is proposed to decompose a large linear system into a number of interconnected subsystems with decentralized (scalar) inputs or outputs. The procedure is preliminary to the hierarchic stabilization and estimation of linear systems and is performed on the subsystem level. A multilevel control scheme based upon the decomposition-aggregation method is developed for stabilization of input-decentralized linear systems Local linear feedback controllers are used to stabilize each decoupled subsystem, while global linear feedback controllers are utilized to minimize the coupling effect among the subsystems. Systems stabilized by the method have a tolerance to a wide class of nonlinearities in subsystem coupling and high reliability with respect to structural perturbations. The proposed output-decentralization and stabilization schemes can be used directly to construct asymptotic state estimators for large linear systems on the subsystem level. The problem of dimensionality is resolved by constructing a number of low-order estimators, thus avoiding a design of a single estimator for the overall system.

A novel adaptive finite time controller for bilateral teleoperation system

NASA Astrophysics Data System (ADS)

Wang, Ziwei; Chen, Zhang; Liang, Bin; Zhang, Bo

2018-03-01

Most bilateral teleoperation researches focus on the system stability within time-delays. However, practical teleoperation tasks require high performances besides system stability, such as convergence rate and accuracy. This paper investigates bilateral teleoperation controller design with transient performances. To ensure the transient performances and system stability simultaneously, an adaptive non-singular fast terminal mode controller is proposed to achieve practical finite-time stability considering system uncertainties and time delays. In addition, a novel switching scheme is introduced, in which way the singularity problem of conventional terminal sliding manifold is avoided. Finally, numerical simulations demonstrate the effectiveness and validity of the proposed method.

Nonlinear Slewing Spacecraft Control Based on Exergy, Power Flow, and Static and Dynamic Stability

NASA Astrophysics Data System (ADS)

Robinett, Rush D.; Wilson, David G.

2009-10-01

This paper presents a new nonlinear control methodology for slewing spacecraft, which provides both necessary and sufficient conditions for stability by identifying the stability boundaries, rigid body modes, and limit cycles. Conservative Hamiltonian system concepts, which are equivalent to static stability of airplanes, are used to find and deal with the static stability boundaries: rigid body modes. The application of exergy and entropy thermodynamic concepts to the work-rate principle provides a natural partitioning through the second law of thermodynamics of power flows into exergy generator, dissipator, and storage for Hamiltonian systems that is employed to find the dynamic stability boundaries: limit cycles. This partitioning process enables the control system designer to directly evaluate and enhance the stability and performance of the system by balancing the power flowing into versus the power dissipated within the system subject to the Hamiltonian surface (power storage). Relationships are developed between exergy, power flow, static and dynamic stability, and Lyapunov analysis. The methodology is demonstrated with two illustrative examples: (1) a nonlinear oscillator with sinusoidal damping and (2) a multi-input-multi-output three-axis slewing spacecraft that employs proportional-integral-derivative tracking control with numerical simulation results.

Research on Performance of Wire-controlled Hydraulic Steering System Based on Four-wheel Steering

NASA Astrophysics Data System (ADS)

Tao, P.; Jin, X. H.

2018-05-01

In this paper, the steering stability and control strategy of forklift are put forward. Drive based on yawing moment distribution of rotary torque coordination control method, through analyzing the linear two degree of freedom model of forklift truck, forklift yawing angular velocity and mass center side-slip Angle of expectations, as the control target parameters system, using fuzzy controller output driving forklift steering the yawing moment, to drive rotary torque distribution, make the forklift truck to drive horizontal pendulum angular velocity and side-slip Angle tracking reference model very well. In this paper, the lateral stability control system were designed, the joint simulation in MATLAB/Simulink, the simulation results show that under the different partial load, the control system can effectively to control side forklift lateral stability, enhanced the forklift driving safety, for the side forklift steering stability study provides a theoretical basis.

The algebraic criteria for the stability of control systems

NASA Technical Reports Server (NTRS)

Cremer, H.; Effertz, F. H.

1986-01-01

This paper critically examines the standard algebraic criteria for the stability of linear control systems and their proofs, reveals important previously unnoticed connections, and presents new representations. Algebraic stability criteria have also acquired significance for stability studies of non-linear differential equation systems by the Krylov-Bogoljubov-Magnus Method, and allow realization conditions to be determined for classes of broken rational functions as frequency characteristics of electrical network.

Computerized dynamic posturography: the influence of platform stability on postural control.

PubMed

Palm, Hans-Georg; Lang, Patricia; Strobel, Johannes; Riesner, Hans-Joachim; Friemert, Benedikt

2014-01-01

Postural stability can be quantified using posturography systems, which allow different foot platform stability settings to be selected. It is unclear, however, how platform stability and postural control are mathematically correlated. Twenty subjects performed tests on the Biodex Stability System at all 13 stability levels. Overall stability index, medial-lateral stability index, and anterior-posterior stability index scores were calculated, and data were analyzed using analysis of variance and linear regression analysis. A decrease in platform stability from the static level to the second least stable level was associated with a linear decrease in postural control. The overall stability index scores were 1.5 ± 0.8 degrees (static), 2.2 ± 0.9 degrees (level 8), and 3.6 ± 1.7 degrees (level 2). The slope of the regression lines was 0.17 for the men and 0.10 for the women. A linear correlation was demonstrated between platform stability and postural control. The influence of stability levels seems to be almost twice as high in men as in women.

Impulsive control of stochastic systems with applications in chaos control, chaos synchronization, and neural networks.

PubMed

Li, Chunguang; Chen, Luonan; Aihara, Kazuyuki

2008-06-01

Real systems are often subject to both noise perturbations and impulsive effects. In this paper, we study the stability and stabilization of systems with both noise perturbations and impulsive effects. In other words, we generalize the impulsive control theory from the deterministic case to the stochastic case. The method is based on extending the comparison method to the stochastic case. The method presented in this paper is general and easy to apply. Theoretical results on both stability in the pth mean and stability with disturbance attenuation are derived. To show the effectiveness of the basic theory, we apply it to the impulsive control and synchronization of chaotic systems with noise perturbations, and to the stability of impulsive stochastic neural networks. Several numerical examples are also presented to verify the theoretical results.

77 FR 39206 - Public Hearing on Proposed Rule for Heavy Vehicle Electronic Stability Control Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2012-07-02

... Control Systems AGENCY: National Highway Traffic Safety Administration (NHTSA), Department of...) systems on truck tractors and large buses. NHTSA is announcing a public hearing to provide an opportunity... No. 136, Electronic Stability Control Systems for Heavy Vehicles (77 FR 30766). The standard would...

Stability boundaries for command augmentation systems

NASA Technical Reports Server (NTRS)

Shrivastava, P. C.

1987-01-01

The Stability Augmentation System (SAS) is a special case of the Command Augmentation System (CAS). Control saturation imposes bounds on achievable commands. The state equilibrium depends only on the open loop dynamics and control deflection. The control magnitude to achieve a desired command equilibrium is independent of the feedback gain. A feedback controller provides the desired response, maintains the system equilibrium under disturbances, but it does not affect the equilibrium values of states and control. The saturation boundaries change with commands, but the location of the equilibrium points in the saturated region remains unchanged. Nonzero command vectors yield saturation boundaries that are asymmetric with respect to the state equilibrium. Except for the saddle point case with MCE control law, the stability boundaries change with commands. For the cases of saddle point and unstable nodes, the region of stability decreases with increasing command magnitudes.

Application of Bounded Linear Stability Analysis Method for Metrics-Driven Adaptive Control

NASA Technical Reports Server (NTRS)

Bakhtiari-Nejad, Maryam; Nguyen, Nhan T.; Krishnakumar, Kalmanje

2009-01-01

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics-driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a second order system that represents a pitch attitude control of a generic transport aircraft. The analysis shows that the system with the metrics-conforming variable adaptive gain becomes more robust to unmodeled dynamics or time delay. The effect of analysis time-window for BLSA is also evaluated in order to meet the stability margin criteria.

Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

NASA Technical Reports Server (NTRS)

Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith

2016-01-01

Basic principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters are presented. Both vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has two main aspects: It summarizes key RCS design principles from earlier NASA vehicles, notably the Space Shuttle and Space Station programs, and introduces advances in the linear modelling and analyses of a phase plane control system derived in the initial development of the NASA's next upper stage vehicle, the Exploration Upper Stage (EUS). Topics include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and RCS rotational maneuver logic.

Robust decentralized power system controller design: Integrated approach

NASA Astrophysics Data System (ADS)

Veselý, Vojtech

2017-09-01

A unique approach to the design of gain scheduled controller (GSC) is presented. The proposed design procedure is based on the Bellman-Lyapunov equation, guaranteed cost and robust stability conditions using the parameter dependent quadratic stability approach. The obtained feasible design procedures for robust GSC design are in the form of BMI with guaranteed convex stability conditions. The obtained design results and their properties are illustrated in the simultaneously design of controllers for simple model (6-order) turbogenerator. The results of the obtained design procedure are a PI automatic voltage regulator (AVR) for synchronous generator, a PI governor controller and a power system stabilizer for excitation system.

77 FR 50577 - Airworthiness Directives; The Boeing Company Airplanes

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-22

... the drive mechanism of the horizontal stabilizer trim actuator. This AD requires repetitive detailed... horizontal stabilizer trim control system; repetitive measurements for discrepancies of the ballscrew to... lubrication of the horizontal stabilizer trim control system; repetitive measurements for discrepancies of the...

Turbojet-exhaust-nozzle secondary-airflow pumping as an exit control of an inlet-stability bypass system for a Mach 2.5 axisymmetric mixed-compression inlet. [Lewis 10- by 10-ft. supersonic wind tunnel test

NASA Technical Reports Server (NTRS)

Sanders, B. W.

1980-01-01

The throat of a Mach 2.5 inlet that was attached to a turbojet engine was fitted with large, porous bleed areas to provide a stability bypass system that would allow a large, stable airflow range. Exhaust-nozzle, secondary-airflow pumping was used as the exit control for the stability bypass airflow. Propulsion system response and stability bypass performance were obtained for several transient airflow disturbances, both internal and external. Internal airflow disturbances included reductions in overboard bypass airflow, power lever angle, and primary-nozzle area, as well as compressor stall. Nozzle secondary pumping as a stability bypass exit control can provide the inlet with a large stability margin with no adverse effects on propulsion system performance.

Study on the stability of waterpower-speed control system for hydropower station with air cushion surge chamber

NASA Astrophysics Data System (ADS)

Guo, W. C.; Yang, J. D.; Chen, J. P.; Teng, Y.

2014-03-01

According to the fact that the effects of penstock, unit and governor on stability of water level fluctuation for hydropower station with air cushion surge chamber are neglected in previous researches, in this paper, Thoma assumption is broken through, the complete mathematical model of waterpower-speed control system for hydropower station with air cushion surge chamber is established, and the comprehensive transfer function and linear homogeneous differential equation that characterize the dynamic characteristics of system are derived. The stability domain that characterizes the good or bad of stability quantitatively is drawn by using the stability conditions. The effects of the fluid inertia in water diversion system, the air cushion surge chamber parameters, hydraulic turbine characteristics, generator characteristics, and regulation modes of governor on the stability of waterpower-speed control system are analyzed through stability domain. The main conclusions are as follows: The fluid inertia in water diversion system and hydraulic turbine characteristics have unfavorable effects on the system while generator characteristics have favorable effect. The stability keeps getting better with the increase of chamber height and basal area and the decrease of air pressure and air polytropic exponent. The stability of power regulation mode is obviously better than that of frequency regulation mode.

Flight dynamics and control modelling of damaged asymmetric aircraft

NASA Astrophysics Data System (ADS)

Ogunwa, T. T.; Abdullah, E. J.

2016-10-01

This research investigates the use of a Linear Quadratic Regulator (LQR) controller to assist commercial Boeing 747-200 aircraft regains its stability in the event of damage. Damages cause an aircraft to become asymmetric and in the case of damage to a fraction (33%) of its left wing or complete loss of its vertical stabilizer, the loss of stability may lead to a fatal crash. In this study, aircraft models for the two damage scenarios previously mentioned are constructed using stability derivatives. LQR controller is used as a direct adaptive control design technique for the observable and controllable system. Dynamic stability analysis is conducted in the time domain for all systems in this study.

Absolute Stability Analysis of a Phase Plane Controlled Spacecraft

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Plummer, Michael; Bedrossian, Nazareth; Hall, Charles; Jackson, Mark; Spanos, Pol

2010-01-01

Many aerospace attitude control systems utilize phase plane control schemes that include nonlinear elements such as dead zone and ideal relay. To evaluate phase plane control robustness, stability margin prediction methods must be developed. Absolute stability is extended to predict stability margins and to define an abort condition. A constrained optimization approach is also used to design flex filters for roll control. The design goal is to optimize vehicle tracking performance while maintaining adequate stability margins. Absolute stability is shown to provide satisfactory stability constraints for the optimization.

A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

NASA Astrophysics Data System (ADS)

Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

2018-06-01

Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

Integral backstepping sliding mode control for underactuated systems: swing-up and stabilization of the Cart-Pendulum System.

PubMed

Adhikary, Nabanita; Mahanta, Chitralekha

2013-11-01

In this paper an integral backstepping sliding mode controller is proposed for controlling underactuated systems. A feedback control law is designed based on backstepping algorithm and a sliding surface is introduced in the final stage of the algorithm. The backstepping algorithm makes the controller immune to matched and mismatched uncertainties and the sliding mode control provides robustness. The proposed controller ensures asymptotic stability. The effectiveness of the proposed controller is compared against a coupled sliding mode controller for swing-up and stabilization of the Cart-Pendulum System. Simulation results show that the proposed integral backstepping sliding mode controller is able to reject both matched and mismatched uncertainties with a chattering free control law, while utilizing less control effort than the sliding mode controller. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Design of Launch Vehicle Flight Control Systems Using Ascent Vehicle Stability Analysis Tool

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Alaniz, Abran; Hall, Robert; Bedossian, Nazareth; Hall, Charles; Jackson, Mark

2011-01-01

A launch vehicle represents a complicated flex-body structural environment for flight control system design. The Ascent-vehicle Stability Analysis Tool (ASAT) is developed to address the complicity in design and analysis of a launch vehicle. The design objective for the flight control system of a launch vehicle is to best follow guidance commands while robustly maintaining system stability. A constrained optimization approach takes the advantage of modern computational control techniques to simultaneously design multiple control systems in compliance with required design specs. "Tower Clearance" and "Load Relief" designs have been achieved for liftoff and max dynamic pressure flight regions, respectively, in the presence of large wind disturbances. The robustness of the flight control system designs has been verified in the frequency domain Monte Carlo analysis using ASAT.

Design and Analysis of Morpheus Lander Flight Control System

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Yang, Lee; Fritz, Mathew; Nguyen, Louis H.; Johnson, Wyatt R.; Hart, Jeremy J.

2014-01-01

The Morpheus Lander is a vertical takeoff and landing test bed vehicle developed to demonstrate the system performance of the Guidance, Navigation and Control (GN&C) system capability for the integrated autonomous landing and hazard avoidance system hardware and software. The Morpheus flight control system design must be robust to various mission profiles. This paper presents a design methodology for employing numerical optimization to develop the Morpheus flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics and propellant slosh. Under the assumption that the Morpheus time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time control systems in the presence of parametric uncertainty. Both control gains in the inner attitude control loop and guidance gains in the outer position control loop are designed to maximize the vehicle performance while ensuring robustness. The flight control system designs provided herein have been demonstrated to provide stable control systems in both Draper Ares Stability Analysis Tool (ASAT) and the NASA/JSC Trick-based Morpheus time domain simulation.

Bounded Linear Stability Margin Analysis of Nonlinear Hybrid Adaptive Control

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Boskovic, Jovan D.

2008-01-01

This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin. This method can enable metrics-driven adaptive control whereby the adaptive gain is adjusted to meet stability margin requirements.

Distributed Coordinated Control of Large-Scale Nonlinear Networks

DOE PAGES

Kundu, Soumya; Anghel, Marian

2015-11-08

We provide a distributed coordinated approach to the stability analysis and control design of largescale nonlinear dynamical systems by using a vector Lyapunov functions approach. In this formulation the large-scale system is decomposed into a network of interacting subsystems and the stability of the system is analyzed through a comparison system. However finding such comparison system is not trivial. In this work, we propose a sum-of-squares based completely decentralized approach for computing the comparison systems for networks of nonlinear systems. Moreover, based on the comparison systems, we introduce a distributed optimal control strategy in which the individual subsystems (agents) coordinatemore » with their immediate neighbors to design local control policies that can exponentially stabilize the full system under initial disturbances.We illustrate the control algorithm on a network of interacting Van der Pol systems.« less

Continuous control of chaos based on the stability criterion.

PubMed

Yu, Hong Jie; Liu, Yan Zhu; Peng, Jian Hua

2004-06-01

A method of chaos control based on stability criterion is proposed in the present paper. This method can stabilize chaotic systems onto a desired periodic orbit by a small time-continuous perturbation nonlinear feedback. This method does not require linearization of the system around the stabilized orbit and only an approximate location of the desired periodic orbit is required which can be automatically detected in the control process. The control can be started at any moment by choosing appropriate perturbation restriction condition. It seems that more flexibility and convenience are the main advantages of this method. The discussions on control of attitude motion of a spacecraft, Rössler system, and two coupled Duffing oscillators are given as numerical examples.

Development and flight evaluation of an augmented stability active controls concept with a small horizontal tail

NASA Technical Reports Server (NTRS)

Rising, J. J.; Kairys, A. A.; Maass, C. A.; Siegart, C. D.; Rakness, W. L.; Mijares, R. D.; King, R. W.; Peterson, R. S.; Hurley, S. R.; Wickson, D.

1982-01-01

A limited authority pitch active control system (PACS) was developed for a wide body jet transport (L-1011) with a flying horizontal stabilizer. Two dual channel digital computers and the associated software provide command signals to a dual channel series servo which controls the stabilizer power actuators. Input sensor signals to the computer are pitch rate, column-trim position, and dynamic pressure. Control laws are given for the PACS and the system architecture is defined. The piloted flight simulation and vehicle system simulation tests performed to verify control laws and system operation prior to installation on the aircraft are discussed. Modifications to the basic aircraft are described. Flying qualities of the aircraft with the PACS on and off were evaluated. Handling qualities for cruise and high speed flight conditions with the c.g. at 39% mac ( + 1% stability margin) and PACS operating were judged to be as good as the handling qualities with the c.g. at 25% (+15% stability margin) and PACS off.

Robust Stability Analysis of the Space Launch System Control Design: A Singular Value Approach

NASA Technical Reports Server (NTRS)

Pei, Jing; Newsome, Jerry R.

2015-01-01

Classical stability analysis consists of breaking the feedback loops one at a time and determining separately how much gain or phase variations would destabilize the stable nominal feedback system. For typical launch vehicle control design, classical control techniques are generally employed. In addition to stability margins, frequency domain Monte Carlo methods are used to evaluate the robustness of the design. However, such techniques were developed for Single-Input-Single-Output (SISO) systems and do not take into consideration the off-diagonal terms in the transfer function matrix of Multi-Input-Multi-Output (MIMO) systems. Robust stability analysis techniques such as H(sub infinity) and mu are applicable to MIMO systems but have not been adopted as standard practices within the launch vehicle controls community. This paper took advantage of a simple singular-value-based MIMO stability margin evaluation method based on work done by Mukhopadhyay and Newsom and applied it to the SLS high-fidelity dynamics model. The method computes a simultaneous multi-loop gain and phase margin that could be related back to classical margins. The results presented in this paper suggest that for the SLS system, traditional SISO stability margins are similar to the MIMO margins. This additional level of verification provides confidence in the robustness of the control design.

Adaptive Fuzzy Control Design for Stochastic Nonlinear Switched Systems With Arbitrary Switchings and Unmodeled Dynamics.

PubMed

Li, Yongming; Sui, Shuai; Tong, Shaocheng

2017-02-01

This paper deals with the problem of adaptive fuzzy output feedback control for a class of stochastic nonlinear switched systems. The controlled system in this paper possesses unmeasured states, completely unknown nonlinear system functions, unmodeled dynamics, and arbitrary switchings. A state observer which does not depend on the switching signal is constructed to tackle the unmeasured states. Fuzzy logic systems are employed to identify the completely unknown nonlinear system functions. Based on the common Lyapunov stability theory and stochastic small-gain theorem, a new robust adaptive fuzzy backstepping stabilization control strategy is developed. The stability of the closed-loop system on input-state-practically stable in probability is proved. The simulation results are given to verify the efficiency of the proposed fuzzy adaptive control scheme.

Robust Control Systems.

DTIC Science & Technology

1981-12-01

time control system algorithms that will perform adequately (i.e., at least maintain closed-loop system stability) when ucertain parameters in the...system design models vary significantly. Such a control algorithm is said to have stability robustness-or more simply is said to be "robust". This...cas6s above, the performance is analyzed using a covariance analysis. The development of all the controllers and the performance analysis algorithms is

Robust stability bounds for multi-delay networked control systems

NASA Astrophysics Data System (ADS)

Seitz, Timothy; Yedavalli, Rama K.; Behbahani, Alireza

2018-04-01

In this paper, the robust stability of a perturbed linear continuous-time system is examined when controlled using a sampled-data networked control system (NCS) framework. Three new robust stability bounds on the time-invariant perturbations to the original continuous-time plant matrix are presented guaranteeing stability for the corresponding discrete closed-loop augmented delay-free system (ADFS) with multiple time-varying sensor and actuator delays. The bounds are differentiated from previous work by accounting for the sampled-data nature of the NCS and for separate communication delays for each sensor and actuator, not a single delay. Therefore, this paper expands the knowledge base in multiple inputs multiple outputs (MIMO) sampled-data time delay systems. Bounds are presented for unstructured, semi-structured, and structured perturbations.

Effect of control surface mass unbalance on the stability of a closed-loop active control system

NASA Technical Reports Server (NTRS)

Nissim, E.

1989-01-01

The effects on stability of inertial forces arising from closed-loop activation of mass-unbalanced control surfaces are studied analytically using inertial energy approach, similar to the aerodynamic energy approach used for flutter suppression. The limitations of a single control surface like a leading-edge (LE) control or a trailing-edge (TE) control are demonstrated and compared to the superior combined LE-TE mass unbalanced system. It is shown that a spanwise section for sensor location can be determined which ensures minimum sensitivity to the mode shapes of the aircraft. It is shown that an LE control exhibits compatibility between inertial stabilization and aerodynamic stabilization, and that a TE control lacks such compatibility. The results of the present work should prove valuable, both for the purpose of flutter suppression using mass unbalanced control surfaces, or for the stabilization of structural modes of large space structures by means of inertial forces.

Apollo experience report. Guidance and control systems: Command and service module stabilization and control system

NASA Technical Reports Server (NTRS)

Littleton, O. P.

1974-01-01

The concepts, design, development, testing, and flight results of the command and service module stabilization and control system are discussed. The period of time covered was from November 1961 to December 1972. Also included are a functional description of the system, a discussion of the major problems, and recommendations for future programs.

Robust ADP Design for Continuous-Time Nonlinear Systems With Output Constraints.

PubMed

Fan, Bo; Yang, Qinmin; Tang, Xiaoyu; Sun, Youxian

2018-06-01

In this paper, a novel robust adaptive dynamic programming (RADP)-based control strategy is presented for the optimal control of a class of output-constrained continuous-time unknown nonlinear systems. Our contribution includes a step forward beyond the usual optimal control result to show that the output of the plant is always within user-defined bounds. To achieve the new results, an error transformation technique is first established to generate an equivalent nonlinear system, whose asymptotic stability guarantees both the asymptotic stability and the satisfaction of the output restriction of the original system. Furthermore, RADP algorithms are developed to solve the transformed nonlinear optimal control problem with completely unknown dynamics as well as a robust design to guarantee the stability of the closed-loop systems in the presence of unavailable internal dynamic state. Via small-gain theorem, asymptotic stability of the original and transformed nonlinear system is theoretically guaranteed. Finally, comparison results demonstrate the merits of the proposed control policy.

A digital intensity stabilization system for HeNe laser

NASA Astrophysics Data System (ADS)

Wei, Zhimeng; Lu, Guangfeng; Yang, Kaiyong; Long, Xingwu; Huang, Yun

2012-02-01

A digital intensity stabilization system for HeNe laser is developed. Based on a switching power IC to design laser power supply and a general purpose microcontroller to realize digital PID control, the system constructs a closed loop to stabilize the laser intensity by regulating its discharge current. The laser tube is made of glass ceramics and its integrated structure is steady enough to eliminate intensity fluctuations at high frequency and attenuates all intensity fluctuations, and this makes it easy to tune the control loop. The control loop between discharge current and photodiode voltage eliminates the long-term drifts. The intensity stability of the HeNe laser with this system is 0.014% over 12 h.

Robust Stabilization of Uncertain Systems Based on Energy Dissipation Concepts

NASA Technical Reports Server (NTRS)

Gupta, Sandeep

1996-01-01

Robust stability conditions obtained through generalization of the notion of energy dissipation in physical systems are discussed in this report. Linear time-invariant (LTI) systems which dissipate energy corresponding to quadratic power functions are characterized in the time-domain and the frequency-domain, in terms of linear matrix inequalities (LMls) and algebraic Riccati equations (ARE's). A novel characterization of strictly dissipative LTI systems is introduced in this report. Sufficient conditions in terms of dissipativity and strict dissipativity are presented for (1) stability of the feedback interconnection of dissipative LTI systems, (2) stability of dissipative LTI systems with memoryless feedback nonlinearities, and (3) quadratic stability of uncertain linear systems. It is demonstrated that the framework of dissipative LTI systems investigated in this report unifies and extends small gain, passivity, and sector conditions for stability. Techniques for selecting power functions for characterization of uncertain plants and robust controller synthesis based on these stability results are introduced. A spring-mass-damper example is used to illustrate the application of these methods for robust controller synthesis.

Scientific Activities Pursuant to the Provisions of AFOSR Grant 79-0018.

DTIC Science & Technology

1984-01-01

controllability implies stabilizability n the case of autono- mous finite dimensional linear systems , we are not surprised to find control ...Current Status of the Control Theory of Single Space Dim- ension Hyperbolicr Systems " was presented at the NASA JPL Symposium on Cbntrol and Stabilization ...theory of hyperbolic systems , including controllability , stabilization , control canonical form theory, etc. To allow a unified and not

Stabilization and control of distributed systems with time-dependent spatial domains

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1990-01-01

This paper considers the problem of the stabilization and control of distributed systems with time-dependent spatial domains. The evolution of the spatial domains with time is described by a finite-dimensional system of ordinary differential equations, while the distributed systems are described by first-order or second-order linear evolution equations defined on appropriate Hilbert spaces. First, results pertaining to the existence and uniqueness of solutions of the system equations are presented. Then, various optimal control and stabilization problems are considered. The paper concludes with some examples which illustrate the application of the main results.

Dynamic remedial action scheme using online transient stability analysis

NASA Astrophysics Data System (ADS)

Shrestha, Arun

Economic pressure and environmental factors have forced the modern power systems to operate closer to their stability limits. However, maintaining transient stability is a fundamental requirement for the operation of interconnected power systems. In North America, power systems are planned and operated to withstand the loss of any single or multiple elements without violating North American Electric Reliability Corporation (NERC) system performance criteria. For a contingency resulting in the loss of multiple elements (Category C), emergency transient stability controls may be necessary to stabilize the power system. Emergency control is designed to sense abnormal conditions and subsequently take pre-determined remedial actions to prevent instability. Commonly known as either Remedial Action Schemes (RAS) or as Special/System Protection Schemes (SPS), these emergency control approaches have been extensively adopted by utilities. RAS are designed to address specific problems, e.g. to increase power transfer, to provide reactive support, to address generator instability, to limit thermal overloads, etc. Possible remedial actions include generator tripping, load shedding, capacitor and reactor switching, static VAR control, etc. Among various RAS types, generation shedding is the most effective and widely used emergency control means for maintaining system stability. In this dissertation, an optimal power flow (OPF)-based generation-shedding RAS is proposed. This scheme uses online transient stability calculation and generator cost function to determine appropriate remedial actions. For transient stability calculation, SIngle Machine Equivalent (SIME) technique is used, which reduces the multimachine power system model to a One-Machine Infinite Bus (OMIB) equivalent and identifies critical machines. Unlike conventional RAS, which are designed using offline simulations, online stability calculations make the proposed RAS dynamic and adapting to any power system configuration and operating state. The generation-shedding cost is calculated using pre-RAS and post-RAS OPF costs. The criteria for selecting generators to trip is based on the minimum cost rather than minimum amount of generation to shed. For an unstable Category C contingency, the RAS control action that results in stable system with minimum generation shedding cost is selected among possible candidate solutions. The RAS control actions update whenever there is a change in operating condition, system configuration, or cost functions. The effectiveness of the proposed technique is demonstrated by simulations on the IEEE 9-bus system, the IEEE 39-bus system, and IEEE 145-bus system. This dissertation also proposes an improved, yet relatively simple, technique for solving Transient Stability-Constrained Optimal Power Flow (TSC-OPF) problem. Using the SIME method, the sets of dynamic and transient stability constraints are reduced to a single stability constraint, decreasing the overall size of the optimization problem. The transient stability constraint is formulated using the critical machines' power at the initial time step, rather than using the machine rotor angles. This avoids the addition of machine steady state stator algebraic equations in the conventional OPF algorithm. A systematic approach to reach an optimal solution is developed by exploring the quasi-linear behavior of critical machine power and stability margin. The proposed method shifts critical machines active power based on generator costs using an OPF algorithm. Moreover, the transient stability limit is based on stability margin, and not on a heuristically set limit on OMIB rotor angle. As a result, the proposed TSC-OPF solution is more economical and transparent. The proposed technique enables the use of fast and robust commercial OPF tool and time-domain simulation software for solving large scale TSC-OPF problem, which makes the proposed method also suitable for real-time application.

14 CFR 25.672 - Stability augmentation and automatic and power-operated systems.

Code of Federal Regulations, 2012 CFR

2012-01-01

..., DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25.672 Stability augmentation and automatic and power-operated systems. If the... the pilot were not aware of the failure. Warning systems must not activate the control systems. (b...

14 CFR 25.672 - Stability augmentation and automatic and power-operated systems.

Code of Federal Regulations, 2011 CFR

2011-01-01

..., DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25.672 Stability augmentation and automatic and power-operated systems. If the... the pilot were not aware of the failure. Warning systems must not activate the control systems. (b...

14 CFR 25.672 - Stability augmentation and automatic and power-operated systems.

Code of Federal Regulations, 2014 CFR

2014-01-01

..., DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25.672 Stability augmentation and automatic and power-operated systems. If the... the pilot were not aware of the failure. Warning systems must not activate the control systems. (b...

14 CFR 25.672 - Stability augmentation and automatic and power-operated systems.

Code of Federal Regulations, 2010 CFR

2010-01-01

..., DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25.672 Stability augmentation and automatic and power-operated systems. If the... the pilot were not aware of the failure. Warning systems must not activate the control systems. (b...

Stochastic Stability of Nonlinear Sampled Data Systems with a Jump Linear Controller

NASA Technical Reports Server (NTRS)

Gonzalez, Oscar R.; Herencia-Zapana, Heber; Gray, W. Steven

2004-01-01

This paper analyzes the stability of a sampled- data system consisting of a deterministic, nonlinear, time- invariant, continuous-time plant and a stochastic, discrete- time, jump linear controller. The jump linear controller mod- els, for example, computer systems and communication net- works that are subject to stochastic upsets or disruptions. This sampled-data model has been used in the analysis and design of fault-tolerant systems and computer-control systems with random communication delays without taking into account the inter-sample response. To analyze stability, appropriate topologies are introduced for the signal spaces of the sampled- data system. With these topologies, the ideal sampling and zero-order-hold operators are shown to be measurable maps. This paper shows that the known equivalence between the stability of a deterministic, linear sampled-data system and its associated discrete-time representation as well as between a nonlinear sampled-data system and a linearized representation holds even in a stochastic framework.

Controller Synthesis for Periodically Forced Chaotic Systems

NASA Astrophysics Data System (ADS)

Basso, Michele; Genesio, Roberto; Giovanardi, Lorenzo

Delayed feedback controllers are an appealing tool for stabilization of periodic orbits in chaotic systems. Despite their conceptual simplicity, specific and reliable design procedures are difficult to obtain, partly also because of their inherent infinite-dimensional structure. This chapter considers the use of finite dimensional linear time invariant controllers for stabilization of periodic solutions in a general class of sinusoidally forced nonlinear systems. For such controllers — which can be interpreted as rational approximations of the delayed ones — we provide a computationally attractive synthesis technique based on Linear Matrix Inequalities (LMIs), by mixing results concerning absolute stability of nonlinear systems and robustness of uncertain linear systems. The resulting controllers prove to be effective for chaos suppression in electronic circuits and systems, as shown by two different application examples.

Development of adaptive control applied to chaotic systems

NASA Astrophysics Data System (ADS)

Rhode, Martin Andreas

1997-12-01

Continuous-time derivative control and adaptive map-based recursive feedback control techniques are used to control chaos in a variety of systems and in situations that are of practical interest. The theoretical part of the research includes the review of fundamental concept of control theory in the context of its applications to deterministic chaotic systems, the development of a new adaptive algorithm to identify the linear system properties necessary for control, and the extension of the recursive proportional feedback control technique, RPF, to high dimensional systems. Chaos control was applied to models of a thermal pulsed combustor, electro-chemical dissolution and the hyperchaotic Rossler system. Important implications for combustion engineering were suggested by successful control of the model of the thermal pulsed combustor. The system was automatically tracked while maintaining control into regions of parameter and state space where no stable attractors exist. In a simulation of the electrochemical dissolution system, application of derivative control to stabilize a steady state, and adaptive RPF to stabilize a period one orbit, was demonstrated. The high dimensional adaptive control algorithm was applied in a simulation using the Rossler hyperchaotic system, where a period-two orbit with two unstable directions was stabilized and tracked over a wide range of a system parameter. In the experimental part, the electrochemical system was studied in parameter space, by scanning the applied potential and the frequency of the rotating copper disk. The automated control algorithm is demonstrated to be effective when applied to stabilize a period-one orbit in the experiment. We show the necessity of small random perturbations applied to the system in order to both learn the dynamics and control the system at the same time. The simultaneous learning and control capability is shown to be an important part of the active feedback control.

Robust Fuzzy Logic Stabilization with Disturbance Elimination

PubMed Central

Danapalasingam, Kumeresan A.

2014-01-01

A robust fuzzy logic controller is proposed for stabilization and disturbance rejection in nonlinear control systems of a particular type. The dynamic feedback controller is designed as a combination of a control law that compensates for nonlinear terms in a control system and a dynamic fuzzy logic controller that addresses unknown model uncertainties and an unmeasured disturbance. Since it is challenging to derive a highly accurate mathematical model, the proposed controller requires only nominal functions of a control system. In this paper, a mathematical derivation is carried out to prove that the controller is able to achieve asymptotic stability by processing state measurements. Robustness here refers to the ability of the controller to asymptotically steer the state vector towards the origin in the presence of model uncertainties and a disturbance input. Simulation results of the robust fuzzy logic controller application in a magnetic levitation system demonstrate the feasibility of the control design. PMID:25177713

Survey of piloting factors in V/STOL aircraft with implications for flight control system design

NASA Technical Reports Server (NTRS)

Ringland, R. F.; Craig, S. J.

1977-01-01

Flight control system design factors involved for pilot workload relief are identified. Major contributors to pilot workload include configuration management and control and aircraft stability and response qualities. A digital fly by wire stability augmentation, configuration management, and configuration control system is suggested for reduction of pilot workload during takeoff, hovering, and approach.

Optimization-Based Robust Nonlinear Control

DTIC Science & Technology

2006-08-01

ABSTRACT New control algorithms were developed for robust stabilization of nonlinear dynamical systems . Novel, linear matrix inequality-based synthesis...was to further advance optimization-based robust nonlinear control design, for general nonlinear systems (especially in discrete time ), for linear...Teel, IEEE Transactions on Control Systems Technology, vol. 14, no. 3, p. 398-407, May 2006. 3. "A unified framework for input-to-state stability in

A Saturation Balancing Control Method for Enhancing Dynamic Vehicle Stability (PREPRINT)

DTIC Science & Technology

2011-03-01

force estimation; axle saturation level; independent drive; torque biasing; 1. Introduction Vehicle stability control ( VSC ) systems have widely been...shown to reduce accidents by minimizing driver’s loss of control during aggressive emergency maneuvers. VSC systems manipulate one or more of the... VSC (also referred to as vehicle dynamics control (VDC)) systems available on the market today are brake-based systems which extend the functionality

Virtual Passive Controller for Robot Systems Using Joint Torque Sensors

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.; Juang, Jer-Nan

1997-01-01

This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented on several joints of a laboratory robot. The controller showed good stability robustness to system parameter error and to the exclusion of nonlinear dynamic effects on the joints. The controller enhanced position tracking performance and, in the absence of position control, dissipated joint energy.

76 FR 55829 - Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2011-09-09

.... Benefits of ESC Electronic stability control (ESC) systems use automatic computer- controlled braking of... demonstrated that these systems reduce fatal single-vehicle crashes of passenger cars by 55 percent and fatal... potential to prevent 56 percent of the fatal passenger car rollovers and 74 percent of the fatal LTV first...

Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

NASA Technical Reports Server (NTRS)

Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith

2016-01-01

NASA is providing preliminary design and requirements for the Space Launch System Exploration Upper Stage (EUS). The EUS will provide upper stage capability for vehicle ascent as well as on-orbit control capability. Requirements include performance of on-orbit burn to provide Orion vehicle with escape velocity. On-orbit attitude control is accommodated by a on-off Reaction Control System (RCS). Paper provides overview of approaches for design and stability of an attitude control system using a RCS.

Robust Control for The G-Limit Microgravity Vibration Isolation System

NASA Technical Reports Server (NTRS)

Whorton, Mark S.

2004-01-01

Many microgravity science experiments need an active isolation system to provide a sufficiently quiescent acceleration environment. The g-LIMIT vibration isolation system will provide isolation for Microgravity Science Glovebox experiments in the International Space Station. While standard control system technologies have been demonstrated for these applications, modern control methods have the potential for meeting performance requirements while providing robust stability in the presence of parametric uncertainties that are characteristic of microgravity vibration isolation systems. While H2 and H infinity methods are well established, neither provides the levels of attenuation performance and robust stability in a compensator with low order. Mixed H2/mu controllers provide a means for maximizing robust stability for a given level of mean-square nominal performance while directly optimizing for controller order constraints. This paper demonstrates the benefit of mixed norm design from the perspective of robustness to parametric uncertainties and controller order for microgravity vibration isolation. A nominal performance metric analogous to the mu measure for robust stability assessment is also introduced in order to define an acceptable trade space from which different control methodologies can be compared.

Fuzzy wavelet plus a quantum neural network as a design base for power system stability enhancement.

PubMed

Ganjefar, Soheil; Tofighi, Morteza; Karami, Hamidreza

2015-11-01

In this study, we introduce an indirect adaptive fuzzy wavelet neural controller (IAFWNC) as a power system stabilizer to damp inter-area modes of oscillations in a multi-machine power system. Quantum computing is an efficient method for improving the computational efficiency of neural networks, so we developed an identifier based on a quantum neural network (QNN) to train the IAFWNC in the proposed scheme. All of the controller parameters are tuned online based on the Lyapunov stability theory to guarantee the closed-loop stability. A two-machine, two-area power system equipped with a static synchronous series compensator as a series flexible ac transmission system was used to demonstrate the effectiveness of the proposed controller. The simulation and experimental results demonstrated that the proposed IAFWNC scheme can achieve favorable control performance. Copyright © 2015 Elsevier Ltd. All rights reserved.

14 CFR 29.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2013 CFR

2013-01-01

..., DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Design and Construction Control Systems § 29.672 Stability augmentation, automatic, and power-operated systems. If the... unsafe condition if the pilot is unaware of the failure. Warning systems must not activate the control...

14 CFR 27.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2013 CFR

2013-01-01

..., DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Design and Construction Control Systems § 27.672 Stability augmentation, automatic, and power-operated systems. If the... unsafe condition if the pilot is unaware of the failure. Warning systems must not activate the control...

Finite-Time Stabilization and Adaptive Control of Memristor-Based Delayed Neural Networks.

PubMed

Wang, Leimin; Shen, Yi; Zhang, Guodong

Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.

Students' Understanding of Equilibrium and Stability: The Case of Dynamic Systems

ERIC Educational Resources Information Center

Canu, Michaël; de Hosson, Cécile; Duque, Mauricio

2016-01-01

Engineering students in control courses have been observed to lack an understanding of equilibrium and stability, both of which are crucial concepts in this discipline. The introduction of these concepts is generally based on the study of classical examples from Newtonian mechanics supplemented with a control system. Equilibrium and stability are…

Spacecraft stability and control using new techniques for periodic and time-delayed systems

NASA Astrophysics Data System (ADS)

NAzari, Morad

This dissertation addresses various problems in spacecraft stability and control using specialized theoretical and numerical techniques for time-periodic and time-delayed systems. First, the effects of energy dissipation are considered in the dual-spin spacecraft, where the damper masses in the platform (?) and the rotor (?) cause energy loss in the system. Floquet theory is employed to obtain stability charts for different relative spin rates of the subsystem [special characters omitted] with respect to the subsystem [special characters omitted]. Further, the stability and bifurcation of delayed feedback spin stabilization of a rigid spacecraft is investigated. The spin is stabilized about the principal axis of the intermediate moment of inertia using a simple delayed feedback control law. In particular, linear stability is analyzed via the exponential-polynomial characteristic equations and then the method of multiple scales is used to obtain the normal form of the Hopf bifurcation. Next, the dynamics of a rigid spacecraft with nonlinear delayed multi-actuator feedback control are studied, where a nonlinear feedback controller using an inverse dynamics approach is sought for the controlled system to have the desired linear delayed closed-loop dynamics (CLD). Later, three linear state feedback control strategies based on Chebyshev spectral collocation and the Lyapunov Floquet transformation (LFT) are explored for regulation control of linear periodic time delayed systems. First , a delayed feedback control law with discrete delay is implemented and the stability of the closed-loop response is investigated in the parameter space of available control gains using infinite-dimensional Floquet theory. Second, the delay differential equation (DDE) is discretized into a large set of ordinary differential equations (ODEs) using the Chebyshev spectral continuous time approximation (CSCTA) and delayed feedback with distributed delay is applied. The third strategy involves use of both CSCTA and the reduced Lyapunov Floquet transformation (RLFT) in order to design a non-delayed feedback control law. The delayed Mathieu equation is used as an illustrative example in which the closed-loop response and control effort are compared for all three control strategies. Finally, three example applications of control of time-periodic astrodynamic systems, i.e. formation flying control for an elliptic Keplerian chief orbit, body-fixed hovering control over a tumbling asteroid, and stationkeeping in Earth-Moon L1 halo orbits, are shown using versions of the control strategies introduced above. These applications employ a mixture of feedforward and non-delayed periodic-gain state feedback for tracking control of natural and non-natural motions in these systems. A major conclusion is that control effort is minimized by employing periodic-gain (rather than constant-gain) feedback control in such systems.

COMSAC: Computational Methods for Stability and Control. Part 1

NASA Technical Reports Server (NTRS)

Fremaux, C. Michael (Compiler); Hall, Robert M. (Compiler)

2004-01-01

Work on stability and control included the following reports:Introductory Remarks; Introduction to Computational Methods for Stability and Control (COMSAC); Stability & Control Challenges for COMSAC: a NASA Langley Perspective; Emerging CFD Capabilities and Outlook A NASA Langley Perspective; The Role for Computational Fluid Dynamics for Stability and Control:Is it Time?; Northrop Grumman Perspective on COMSAC; Boeing Integrated Defense Systems Perspective on COMSAC; Computational Methods in Stability and Control:WPAFB Perspective; Perspective: Raytheon Aircraft Company; A Greybeard's View of the State of Aerodynamic Prediction; Computational Methods for Stability and Control: A Perspective; Boeing TacAir Stability and Control Issues for Computational Fluid Dynamics; NAVAIR S&C Issues for CFD; An S&C Perspective on CFD; Issues, Challenges & Payoffs: A Boeing User s Perspective on CFD for S&C; and Stability and Control in Computational Simulations for Conceptual and Preliminary Design: the Past, Today, and Future?

Integrated Chassis Control of Active Front Steering and Yaw Stability Control Based on Improved Inverse Nyquist Array Method

PubMed Central

2014-01-01

An integrated chassis control (ICC) system with active front steering (AFS) and yaw stability control (YSC) is introduced in this paper. The proposed ICC algorithm uses the improved Inverse Nyquist Array (INA) method based on a 2-degree-of-freedom (DOF) planar vehicle reference model to decouple the plant dynamics under different frequency bands, and the change of velocity and cornering stiffness were considered to calculate the analytical solution in the precompensator design so that the INA based algorithm runs well and fast on the nonlinear vehicle system. The stability of the system is guaranteed by dynamic compensator together with a proposed PI feedback controller. After the response analysis of the system on frequency domain and time domain, simulations under step steering maneuver were carried out using a 2-DOF vehicle model and a 14-DOF vehicle model by Matlab/Simulink. The results show that the system is decoupled and the vehicle handling and stability performance are significantly improved by the proposed method. PMID:24782676

Integrated chassis control of active front steering and yaw stability control based on improved inverse nyquist array method.

PubMed

Zhu, Bing; Chen, Yizhou; Zhao, Jian

2014-01-01

An integrated chassis control (ICC) system with active front steering (AFS) and yaw stability control (YSC) is introduced in this paper. The proposed ICC algorithm uses the improved Inverse Nyquist Array (INA) method based on a 2-degree-of-freedom (DOF) planar vehicle reference model to decouple the plant dynamics under different frequency bands, and the change of velocity and cornering stiffness were considered to calculate the analytical solution in the precompensator design so that the INA based algorithm runs well and fast on the nonlinear vehicle system. The stability of the system is guaranteed by dynamic compensator together with a proposed PI feedback controller. After the response analysis of the system on frequency domain and time domain, simulations under step steering maneuver were carried out using a 2-DOF vehicle model and a 14-DOF vehicle model by Matlab/Simulink. The results show that the system is decoupled and the vehicle handling and stability performance are significantly improved by the proposed method.

Model based PI power system stabilizer design for damping low frequency oscillations in power systems.

PubMed

Salgotra, Aprajita; Pan, Somnath

2018-05-01

This paper explores a two-level control strategy by blending local controller with centralized controller for the low frequency oscillations in a power system. The proposed control scheme provides stabilization of local modes using a local controller and minimizes the effect of inter-connection of sub-systems performance through a centralized control. For designing the local controllers in the form of proportional-integral power system stabilizer (PI-PSS), a simple and straight forward frequency domain direct synthesis method is considered that works on use of a suitable reference model which is based on the desired requirements. Several examples both on one machine infinite bus and multi-machine systems taken from the literature are illustrated to show the efficacy of the proposed PI-PSS. The effective damping of the systems is found to be increased remarkably which is reflected in the time-responses; even unstable operation has been stabilized with improved damping after applying the proposed controller. The proposed controllers give remarkable improvement in damping the oscillations in all the illustrations considered here and as for example, the value of damping factor has been increased from 0.0217 to 0.666 in Example 1. The simulation results obtained by the proposed control strategy are favourably compared with some controllers prevalent in the literature. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A Feasibility Study on the Control of a Generic Air Vehicle Using Control Moment Gyros

NASA Technical Reports Server (NTRS)

Lim, Kyong B.; Moerder, Daniel D.

2006-01-01

This paper examines feasibility and performance issues in using Control Moment Gyroscopes (CMGs) to control the attitude of a fixed-wing aircraft. The paper describes a control system structure that permits allocating control authority and bandwidth between a CMG system and conventional aerodynamic control surfaces to stabilize a vehicle with neutral aerodynamic stability. A simulation study explores the interplay between aerodynamic and CMG effects, and indicates desirable physical characteristics for a CMG system to be used for aircraft attitude control.

Stochastic Stability of Sampled Data Systems with a Jump Linear Controller

NASA Technical Reports Server (NTRS)

Gonzalez, Oscar R.; Herencia-Zapana, Heber; Gray, W. Steven

2004-01-01

In this paper an equivalence between the stochastic stability of a sampled-data system and its associated discrete-time representation is established. The sampled-data system consists of a deterministic, linear, time-invariant, continuous-time plant and a stochastic, linear, time-invariant, discrete-time, jump linear controller. The jump linear controller models computer systems and communication networks that are subject to stochastic upsets or disruptions. This sampled-data model has been used in the analysis and design of fault-tolerant systems and computer-control systems with random communication delays without taking into account the inter-sample response. This paper shows that the known equivalence between the stability of a deterministic sampled-data system and the associated discrete-time representation holds even in a stochastic framework.

Stability of multiloop LQ regulators with nonlinearities. I - Regions of attraction. II - Regions of ultimate boundedness

NASA Technical Reports Server (NTRS)

Joshi, S. M.

1986-01-01

An investigation is conducted for the closed loop stability of linear time-invariant systems controlled by linear quadratic (LQ) regulators, in cases where nonlinearities exist in the control channels lying outside the stability sector in regions away from the origin. The estimate of the region of attraction thus obtained furnishes methods for the selection of performance function weights for more robust LQ designs. Attention is then given to the closed loop stability of linear time-invariant systems controlled by the LQ regulators when the nonlinearities in the loops escape the stability sector in a bounded region containing the origin.

14 CFR 29.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2011 CFR

2011-01-01

... power-operated systems. 29.672 Section 29.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 29.672 Stability augmentation, automatic, and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated system is necessary to show...

14 CFR 29.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2014 CFR

2014-01-01

... power-operated systems. 29.672 Section 29.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 29.672 Stability augmentation, automatic, and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated system is necessary to show...

14 CFR 27.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2014 CFR

2014-01-01

... power-operated systems. 27.672 Section 27.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 27.672 Stability augmentation, automatic, and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated systems is necessary to show...

14 CFR 29.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2010 CFR

2010-01-01

... power-operated systems. 29.672 Section 29.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 29.672 Stability augmentation, automatic, and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated system is necessary to show...

14 CFR 27.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2011 CFR

2011-01-01

... power-operated systems. 27.672 Section 27.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 27.672 Stability augmentation, automatic, and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated systems is necessary to show...

14 CFR 29.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2012 CFR

2012-01-01

... power-operated systems. 29.672 Section 29.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 29.672 Stability augmentation, automatic, and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated system is necessary to show...

14 CFR 27.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2010 CFR

2010-01-01

... power-operated systems. 27.672 Section 27.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 27.672 Stability augmentation, automatic, and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated systems is necessary to show...

14 CFR 27.672 - Stability augmentation, automatic, and power-operated systems.

Code of Federal Regulations, 2012 CFR

2012-01-01

... power-operated systems. 27.672 Section 27.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 27.672 Stability augmentation, automatic, and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated systems is necessary to show...

Integrated Application of Active Controls (IAAC) technology to an advanced subsonic transport project: Test act system description

NASA Technical Reports Server (NTRS)

1983-01-01

The engineering and fabrication of the test ACT system, produced in the third program element of the IAAC Project is documented. The system incorporates pitch-augmented stability and wing-load alleviation, plus full authority fly-by-wire control of the elevators. The pitch-augmented stability is designed to have reliability sufficient to allow flight with neutral or negative inherent longitudinal stability.

The design of delay-dependent wide-area DOFC with prescribed degree of stability α for damping inter-area low-frequency oscillations in power system.

PubMed

Sun, Miaoping; Nian, Xiaohong; Dai, Liqiong; Guo, Hua

2017-05-01

In this paper, the delay-dependent wide-area dynamic output feedback controller (DOFC) with prescribed degree of stability is proposed for interconnected power system to damp inter-area low-frequency oscillations. Here, the prescribed degree of stability α is used to maintain all the poles on the left of s=-α in the s-plane. Firstly, residue approach is adopted to select input-output control signals and the schur balanced truncation model reduction method is utilized to obtain the reduced power system model. Secondly, based on Lyapunov stability theory and transformation operation in complex plane, the sufficient condition of asymptotic stability for closed-loop power system with prescribed degree of stability α is derived. Then, a novel method based on linear matrix inequalities (LMIs) is presented to obtain the parameters of DOFC and calculate delay margin of the closed-loop system considering the prescribed degree of stability α. Finally, case studies are carried out on the two-area four-machine system, which is controlled by classical wide-area power system stabilizer (WAPSS) in reported reference and our proposed DOFC respectively. The effectiveness and advantages of the proposed method are verified by the simulation results under different operating conditions. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

NASA Astrophysics Data System (ADS)

Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

2017-12-01

In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

Development of real-time voltage stability monitoring tool for power system transmission network using Synchrophasor data

NASA Astrophysics Data System (ADS)

Pulok, Md Kamrul Hasan

Intelligent and effective monitoring of power system stability in control centers is one of the key issues in smart grid technology to prevent unwanted power system blackouts. Voltage stability analysis is one of the most important requirements for control center operation in smart grid era. With the advent of Phasor Measurement Unit (PMU) or Synchrophasor technology, real time monitoring of voltage stability of power system is now a reality. This work utilizes real-time PMU data to derive a voltage stability index to monitor the voltage stability related contingency situation in power systems. The developed tool uses PMU data to calculate voltage stability index that indicates relative closeness of the instability by producing numerical indices. The IEEE 39 bus, New England power system was modeled and run on a Real-time Digital Simulator that stream PMU data over the Internet using IEEE C37.118 protocol. A Phasor data concentrator (PDC) is setup that receives streaming PMU data and stores them in Microsoft SQL database server. Then the developed voltage stability monitoring (VSM) tool retrieves phasor measurement data from SQL server, performs real-time state estimation of the whole network, calculate voltage stability index, perform real-time ranking of most vulnerable transmission lines, and finally shows all the results in a graphical user interface. All these actions are done in near real-time. Control centers can easily monitor the systems condition by using this tool and can take precautionary actions if needed.

Longitudinal Stability and Control Characteristics of a B-29 Airplane with a Booster Incorporated in the Elevator Control System to Provide Various Stick-Force and Control-Rate Characteristics

NASA Technical Reports Server (NTRS)

Mathews, Charles W.; Talmage, Donald B.; Whitten, James B.

1948-01-01

The longitudinal stability and control characteristics of a B-29 airplane have been measured with a booster incorporated in the elevator control system. Tests were made to determine the effects on the handling qualities of the test airplane of variations in pilots control-force gradients as well as the effects of variations in the maximum rate of control motion supplied by the booster system.

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems.

PubMed

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-12-28

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver's input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice.

Stability Metrics for Simulation and Flight-Software Assessment and Monitoring of Adaptive Control Assist Compensators

NASA Technical Reports Server (NTRS)

Hodel, A. S.; Whorton, Mark; Zhu, J. Jim

2008-01-01

Due to a need for improved reliability and performance in aerospace systems, there is increased interest in the use of adaptive control or other nonlinear, time-varying control designs in aerospace vehicles. While such techniques are built on Lyapunov stability theory, they lack an accompanying set of metrics for the assessment of stability margins such as the classical gain and phase margins used in linear time-invariant systems. Such metrics must both be physically meaningful and permit the user to draw conclusions in a straightforward fashion. We present in this paper a roadmap to the development of metrics appropriate to nonlinear, time-varying systems. We also present two case studies in which frozen-time gain and phase margins incorrectly predict stability or instability. We then present a multi-resolution analysis approach that permits on-line real-time stability assessment of nonlinear systems.

Analysis and testing of aeroelastic model stability augmentation systems. [for supersonic transport aircraft wing and B-52 aircraft control system

NASA Technical Reports Server (NTRS)

Sevart, F. D.; Patel, S. M.

1973-01-01

Testing and evaluation of a stability augmentation system for aircraft flight control were performed. The flutter suppression system and synthesis conducted on a scale model of a supersonic wing for a transport aircraft are discussed. Mechanization and testing of the leading and trailing edge surface actuation systems are described. The ride control system analyses for a 375,000 pound gross weight B-52E aircraft are presented. Analyses of the B-52E aircraft maneuver load control system are included.

14 CFR 25.672 - Stability augmentation and automatic and power-operated systems.

Code of Federal Regulations, 2013 CFR

2013-01-01

... power-operated systems. 25.672 Section 25.672 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Control Systems § 25.672 Stability augmentation and automatic and power-operated systems. If the functioning of stability augmentation or other automatic or power-operated systems is necessary to show...

Stability analysis of a controlled mechanical system with parametric uncertainties in LuGre friction model

NASA Astrophysics Data System (ADS)

Sun, Yun-Hsiang; Sun, Yuming; Wu, Christine Qiong; Sepehri, Nariman

2018-04-01

Parameters of friction model identified for a specific control system development are not constants. They vary over time and have a significant effect on the control system stability. Although much research has been devoted to the stability analysis under parametric uncertainty, less attention has been paid to incorporating a realistic friction model into their analysis. After reviewing the common friction models for controller design, a modified LuGre friction model is selected to carry out the stability analysis in this study. Two parameters of the LuGre model, namely σ0 and σ1, are critical to the demonstration of dynamic friction features, yet the identification of which is difficult to carry out, resulting in a high level of uncertainties in their values. Aiming at uncovering the effect of the σ0 and σ1 variations on the control system stability, a servomechanism with modified LuGre friction model is investigated. Two set-point position controllers are synthesised based on the servomechanism model to form two case studies. Through Lyapunov exponents, it is clear that the variation of σ0 and σ1 has an obvious effect on the stabiltiy of the studied systems and should not be overlooked in the design phase.

Power System Transient Stability Improvement by the Interline Power Flow Controller (IPFC)

NASA Astrophysics Data System (ADS)

Zhang, Jun; Yokoyama, Akihiko

This paper presents a study on the power system transient stability improvement by means of interline power flow controller (IPFC). The power injection model of IPFC in transient analysis is proposed and can be easily incorporated into existing power systems. Based on the energy function analysis, the operation of IPFC should guarantee that the time derivative of the global energy of the system is not greater than zero in order to damp the electromechanical oscillations. Accordingly, control laws of IPFC are proposed for its application to the single-machine infinite-bus (SMIB) system and the multimachine systems, respectively. Numerical simulations on the corresponding model power systems are presented to demonstrate their effectiveness in improving power system transient stability.

A study of a steering system algorithm for pleasure boats based on stability analysis of a human-machine system model

NASA Astrophysics Data System (ADS)

Ikeda, Fujio; Toyama, Shigehiro; Ishiduki, Souta; Seta, Hiroaki

2016-09-01

Maritime accidents of small ships continue to increase in number. One of the major factors is poor manoeuvrability of the Manual Hydraulic Steering Mechanism (MHSM) in common use. The manoeuvrability can be improved by using the Electronic Control Steering Mechanism (ECSM). This paper conducts stability analyses of a pleasure boat controlled by human models in view of path following on a target course, in order to establish design guidelines for the ECSM. First, to analyse the stability region, the research derives the linear approximated model in a planar global coordinate system. Then, several human models are assumed to develop closed-loop human-machine controlled systems. These human models include basic proportional, derivative, integral and time-delay actions. The stability analysis simulations for those human-machine systems are carried out. The results show that the stability region tends to spread as a ship's velocity increases in the case of the basic proportional human model. The derivative action and time-delay action of human models are effective in spreading the stability region in their respective ranges of frontal gazing points.

Total Transfer Capability Assessment Incorporating Corrective Controls for Transient Stability using TSCOPF

NASA Astrophysics Data System (ADS)

Hakim, Lukmanul; Kubokawa, Junji; Yorino, Naoto; Zoka, Yoshifumi; Sasaki, Yutaka

Advancements have been made towards inclusion of both static and dynamic security into transfer capability calculation. However, to the authors' knowledge, work on considering corrective controls into the calculation has not been reported yet. Therefore, we propose a Total Transfer Capability (TTC) assessment considering transient stability corrective controls. The method is based on the Newton interior point method for nonlinear programming and transfer capability is approached as a maximization of power transfer with both static and transient stability constraints are incorporated into our Transient Stability Constrained Optimal Power Flow (TSCOPF) formulation. An interconnected power system is simulated to be subjected to a severe unbalanced 3-phase 4-line to ground fault and following the fault, generator and load are shed in a pre-defined sequence to mimic actual corrective controls. In a deregulated electricity market, both generator companies and large load customers are encouraged to actively participate in maintaining power system stability as corrective controls upon agreement of compensation for being shed following a disturbance. Implementation of this proposal on the actual power system operation should be carried out through combining it with the existing transient stabilization controller system. Utilization of these corrective controls results in increasing TTC as suggested in our numerical simulation. As Lagrange multipliers can also describe sensitivity of both inequality and equality constraints to the objective function, then selection of which generator or load to be shed can be carried out on the basis of values of Lagrange multipliers of its respective generator's rotor angle stability and active power balance equation. Hence, the proposal in this paper can be utilized by system operator to assess the maximum TTC for specific loads and network conditions.

Evolving Systems: Adaptive Key Component Control and Inheritance of Passivity and Dissipativity

NASA Technical Reports Server (NTRS)

Frost, S. A.; Balas, M. J.

2010-01-01

We propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. Autonomous assembly of large, complex flexible structures in space is a target application for Evolving Systems. A critical requirement for autonomous assembling structures is that they remain stable during and after assembly. The fundamental topic of inheritance of stability, dissipativity, and passivity in Evolving Systems is the primary focus of this research. In this paper, we develop an adaptive key component controller to restore stability in Nonlinear Evolving Systems that would otherwise fail to inherit the stability traits of their components. We provide sufficient conditions for the use of this novel control method and demonstrate its use on an illustrative example.

A low-level rf control system for a quarter-wave resonator

NASA Astrophysics Data System (ADS)

Kim, Jongwon; Hwang, Churlkew

2012-06-01

A low-level rf control system was designed and built for an rf deflector, which is a quarter wave resonator, and was designed to deflect a secondary electron beam to measure the bunch length of an ion beam. The deflector has a resonance frequency near 88 MHz, its required phase stability is approximately ±1° and its amplitude stability is less than ±1%. The control system consists of analog input and output components and a digital system based on a field-programmable gate array for signal processing. The system is cost effective, while meeting the stability requirements. Some basic properties of the control system were measured. Then, the capability of the rf control was tested using a mechanical vibrator made of a dielectric rod attached to an audio speaker system, which could induce regulated perturbations in the electric fields of the resonator. The control system was flexible so that its parameters could be easily configured to compensate for the disturbance induced in the resonator.

Improved Power System Stability Using Backtracking Search Algorithm for Coordination Design of PSS and TCSC Damping Controller.

PubMed

Niamul Islam, Naz; Hannan, M A; Mohamed, Azah; Shareef, Hussain

2016-01-01

Power system oscillation is a serious threat to the stability of multimachine power systems. The coordinated control of power system stabilizers (PSS) and thyristor-controlled series compensation (TCSC) damping controllers is a commonly used technique to provide the required damping over different modes of growing oscillations. However, their coordinated design is a complex multimodal optimization problem that is very hard to solve using traditional tuning techniques. In addition, several limitations of traditionally used techniques prevent the optimum design of coordinated controllers. In this paper, an alternate technique for robust damping over oscillation is presented using backtracking search algorithm (BSA). A 5-area 16-machine benchmark power system is considered to evaluate the design efficiency. The complete design process is conducted in a linear time-invariant (LTI) model of a power system. It includes the design formulation into a multi-objective function from the system eigenvalues. Later on, nonlinear time-domain simulations are used to compare the damping performances for different local and inter-area modes of power system oscillations. The performance of the BSA technique is compared against that of the popular particle swarm optimization (PSO) for coordinated design efficiency. Damping performances using different design techniques are compared in term of settling time and overshoot of oscillations. The results obtained verify that the BSA-based design improves the system stability significantly. The stability of the multimachine power system is improved by up to 74.47% and 79.93% for an inter-area mode and a local mode of oscillation, respectively. Thus, the proposed technique for coordinated design has great potential to improve power system stability and to maintain its secure operation.

Advanced AFCS developments on the XV-15 tilt rotor research aircraft. [Automatic Flight Control System

NASA Technical Reports Server (NTRS)

Churchill, G. B.; Gerdes, R. M.

1984-01-01

The design criteria and control and handling qualities of the Automatic Flight Control System (AFCS), developed in the framework of the XV-15 tilt-rotor research aircraft, are evaluated, differentiating between the stability and control criteria. A technically aggressive SCAS control law was implemented, demonstrating that significant benefits accrue when stability criteria are separated from design criteria; the design analyses for application of the control law are presented, and the limit bandwidth for stabilization in hovering flight is shown to be defined by rotor or control lag functions. Flight tests of the aircraft resulted in a rating of 3 on the Cooper-Harper scale; a possibility of achieving a rating of 2 is expected if the system is applied to the yaw and heave control modes.

Integrated Application of Active Controls (IAAC) technology to an advanced subsonic transport project: Current and advanced act control system definition study

NASA Technical Reports Server (NTRS)

1982-01-01

The Current and Advanced Technology ACT control system definition tasks of the Integrated Application of Active Controls (IAAC) Technology project within the Energy Efficient Transport Program are summarized. The systems mechanize six active control functions: (1) pitch augmented stability; (2) angle of attack limiting; (3) lateral/directional augmented stability; (4) gust load alleviation; (5) maneuver load control; and (6) flutter mode control. The redundant digital control systems meet all function requirements with required reliability and declining weight and cost as advanced technology is introduced.

Safety benefits of stability control systems for tractor-semitrailers.

DOT National Transportation Integrated Search

2009-10-01

This study was conducted by the University of Michigan Transportation Research Institute : (UMTRI) under a Cooperative Agreement between NHTSA and Meritor WABCO to examine : the performance of electronic stability control (ESC) systems, and roll stab...

The constrained discrete-time state-dependent Riccati equation technique for uncertain nonlinear systems

NASA Astrophysics Data System (ADS)

Chang, Insu

The objective of the thesis is to introduce a relatively general nonlinear controller/estimator synthesis framework using a special type of the state-dependent Riccati equation technique. The continuous time state-dependent Riccati equation (SDRE) technique is extended to discrete-time under input and state constraints, yielding constrained (C) discrete-time (D) SDRE, referred to as CD-SDRE. For the latter, stability analysis and calculation of a region of attraction are carried out. The derivation of the D-SDRE under state-dependent weights is provided. Stability of the D-SDRE feedback system is established using Lyapunov stability approach. Receding horizon strategy is used to take into account the constraints on D-SDRE controller. Stability condition of the CD-SDRE controller is analyzed by using a switched system. The use of CD-SDRE scheme in the presence of constraints is then systematically demonstrated by applying this scheme to problems of spacecraft formation orbit reconfiguration under limited performance on thrusters. Simulation results demonstrate the efficacy and reliability of the proposed CD-SDRE. The CD-SDRE technique is further investigated in a case where there are uncertainties in nonlinear systems to be controlled. First, the system stability under each of the controllers in the robust CD-SDRE technique is separately established. The stability of the closed-loop system under the robust CD-SDRE controller is then proven based on the stability of each control system comprising switching configuration. A high fidelity dynamical model of spacecraft attitude motion in 3-dimensional space is derived with a partially filled fuel tank, assumed to have the first fuel slosh mode. The proposed robust CD-SDRE controller is then applied to the spacecraft attitude control system to stabilize its motion in the presence of uncertainties characterized by the first fuel slosh mode. The performance of the robust CD-SDRE technique is discussed. Subsequently, filtering techniques are investigated by using the D-SDRE technique. Detailed derivation of the D-SDRE-based filter (D-SDREF) is provided under the assumption of Gaussian noises and the stability condition of the error signal between the measured signal and the estimated signals is proven to be input-to-state stable. For the non-Gaussian distributed noises, we propose a filter by combining the D-SDREF and the particle filter (PF), named the combined D-SDRE/PF. Two algorithms for the filtering techniques are provided. Several filtering techniques are compared with challenging numerical examples to show the reliability and efficacy of the proposed D-SDREF and the combined D-SDRE/PF.

Nonlinear stability research on the hydraulic system of double-side rolling shear.

PubMed

Wang, Jun; Huang, Qingxue; An, Gaocheng; Qi, Qisong; Sun, Binyu

2015-10-01

This paper researches the stability of the nonlinear system taking the hydraulic system of double-side rolling shear as an example. The hydraulic system of double-side rolling shear uses unsymmetrical electro-hydraulic proportional servo valve to control the cylinder with single piston rod, which can make best use of the space and reduce reversing shock. It is a typical nonlinear structure. The nonlinear state-space equations of the unsymmetrical valve controlling cylinder system are built first, and the second Lyapunov method is used to evaluate its stability. Second, the software AMEsim is applied to simulate the nonlinear system, and the results indicate that the system is stable. At last, the experimental results show that the system unsymmetrical valve controlling the cylinder with single piston rod is stable and conforms to what is deduced by theoretical analysis and simulation. The construction and application of Lyapunov function not only provide the theoretical basis for using of unsymmetrical valve controlling cylinder with single piston rod but also develop a new thought for nonlinear stability evaluation.

Nonlinear stability research on the hydraulic system of double-side rolling shear

NASA Astrophysics Data System (ADS)

Wang, Jun; Huang, Qingxue; An, Gaocheng; Qi, Qisong; Sun, Binyu

2015-10-01

This paper researches the stability of the nonlinear system taking the hydraulic system of double-side rolling shear as an example. The hydraulic system of double-side rolling shear uses unsymmetrical electro-hydraulic proportional servo valve to control the cylinder with single piston rod, which can make best use of the space and reduce reversing shock. It is a typical nonlinear structure. The nonlinear state-space equations of the unsymmetrical valve controlling cylinder system are built first, and the second Lyapunov method is used to evaluate its stability. Second, the software AMEsim is applied to simulate the nonlinear system, and the results indicate that the system is stable. At last, the experimental results show that the system unsymmetrical valve controlling the cylinder with single piston rod is stable and conforms to what is deduced by theoretical analysis and simulation. The construction and application of Lyapunov function not only provide the theoretical basis for using of unsymmetrical valve controlling cylinder with single piston rod but also develop a new thought for nonlinear stability evaluation.

Analysis and testing of stability augmentation systems. [for supersonic transport aircraft wing and B-52 aircraft control system

NASA Technical Reports Server (NTRS)

Sevart, F. D.; Patel, S. M.; Wattman, W. J.

1972-01-01

Testing and evaluation of stability augmentation systems for aircraft flight control were conducted. The flutter suppression system analysis of a scale supersonic transport wing model is described. Mechanization of the flutter suppression system is reported. The ride control synthesis for the B-52 aeroelastic model is discussed. Model analyses were conducted using equations of motion generated from generalized mass and stiffness data.

Robust nonlinear control of vectored thrust aircraft

NASA Technical Reports Server (NTRS)

Doyle, John C.; Murray, Richard; Morris, John

1993-01-01

An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations.

Optimization of a pressure control valve for high power automatic transmission considering stability

NASA Astrophysics Data System (ADS)

Jian, Hongchao; Wei, Wei; Li, Hongcai; Yan, Qingdong

2018-02-01

The pilot-operated electrohydraulic clutch-actuator system is widely utilized by high power automatic transmission because of the demand of large flowrate and the excellent pressure regulating capability. However, a self-excited vibration induced by the inherent non-linear characteristics of valve spool motion coupled with the fluid dynamics can be generated during the working state of hydraulic systems due to inappropriate system parameters, which causes sustaining instability in the system and leads to unexpected performance deterioration and hardware damage. To ensure a stable and fast response performance of the clutch actuator system, an optimal design method for the pressure control valve considering stability is proposed in this paper. A non-linear dynamic model of the clutch actuator system is established based on the motion of the valve spool and coupling fluid dynamics in the system. The stability boundary in the parameter space is obtained by numerical stability analysis. Sensitivity of the stability boundary and output pressure response time corresponding to the valve parameters are identified using design of experiment (DOE) approach. The pressure control valve is optimized using particle swarm optimization (PSO) algorithm with the stability boundary as constraint. The simulation and experimental results reveal that the optimization method proposed in this paper helps in improving the response characteristics while ensuring the stability of the clutch actuator system during the entire gear shift process.

Stability and Performance Robustness Assessment of Multivariable Control Systems

DTIC Science & Technology

1993-04-01

00- STABILITY AND PERFORMANCE ROBUSTNESS ASSESSMENT OF MULTIVARIABLE CONTROL SYSTEMS Asok Ray , Jenny I. Shen, and Chen-Kuo Weng Mechanical...Office of Naval Research Assessment of Multivariable Control Systems Grant No. N00014-90-J- 1513 6. AUTHOR(S) (Extension) Professor Asok Ray , Dr...20 The Pennsylvania State University University Park, PA 16802 (20 for Professor Asok Ray ) Naval Postgraduate School

Payload isolation and stabilization by a Suspended Experiment Mount (SEM)

NASA Technical Reports Server (NTRS)

Bailey, Wayne L.; Desanctis, Carmine E.; Nicaise, Placide D.; Schultz, David N.

1992-01-01

Many Space Shuttle and Space Station payloads can benefit from isolation from crew or attitude control system disturbances. Preliminary studies have been performed for a Suspended Experiment Mount (SEM) system that will provide isolation from accelerations and stabilize the viewing direction of a payload. The concept consists of a flexible suspension system and payload-mounted control moment gyros. The suspension system, which is rigidly locked for ascent and descent, isolates the payload from high frequency disturbances. The control moment gyros stabilize the payload orientation. The SEM will be useful for payloads that require a lower-g environment than a manned vehicle can provide, such as materials processing, and for payloads that require stabilization of pointing direction, but not large angle slewing, such as nadir-viewing earth observation or solar viewing payloads.

Dc microgrid stabilization through fuzzy control of interleaved, heterogeneous storage elements

NASA Astrophysics Data System (ADS)

Smith, Robert David

As microgrid power systems gain prevalence and renewable energy comprises greater and greater portions of distributed generation, energy storage becomes important to offset the higher variance of renewable energy sources and maximize their usefulness. One of the emerging techniques is to utilize a combination of lead-acid batteries and ultracapacitors to provide both short and long-term stabilization to microgrid systems. The different energy and power characteristics of batteries and ultracapacitors imply that they ought to be utilized in different ways. Traditional linear controls can use these energy storage systems to stabilize a power grid, but cannot effect more complex interactions. This research explores a fuzzy logic approach to microgrid stabilization. The ability of a fuzzy logic controller to regulate a dc bus in the presence of source and load fluctuations, in a manner comparable to traditional linear control systems, is explored and demonstrated. Furthermore, the expanded capabilities (such as storage balancing, self-protection, and battery optimization) of a fuzzy logic system over a traditional linear control system are shown. System simulation results are presented and validated through hardware-based experiments. These experiments confirm the capabilities of the fuzzy logic control system to regulate bus voltage, balance storage elements, optimize battery usage, and effect self-protection.

A method to stabilize linear systems using eigenvalue gradient information

NASA Technical Reports Server (NTRS)

Wieseman, C. D.

1985-01-01

Formal optimization methods and eigenvalue gradient information are used to develop a stabilizing control law for a closed loop linear system that is initially unstable. The method was originally formulated by using direct, constrained optimization methods with the constraints being the real parts of the eigenvalues. However, because of problems in trying to achieve stabilizing control laws, the problem was reformulated to be solved differently. The method described uses the Davidon-Fletcher-Powell minimization technique to solve an indirect, constrained minimization problem in which the performance index is the Kreisselmeier-Steinhauser function of the real parts of all the eigenvalues. The method is applied successfully to solve two different problems: the determination of a fourth-order control law stabilizes a single-input single-output active flutter suppression system and the determination of a second-order control law for a multi-input multi-output lateral-directional flight control system. Various sets of design variables and initial starting points were chosen to show the robustness of the method.

Impact of Offshore Wind Power Integrated by VSC-HVDC on Power Angle Stability of Power Systems

NASA Astrophysics Data System (ADS)

Lu, Haiyang; Tang, Xisheng

2017-05-01

Offshore wind farm connected to grid by VSC-HVDC loses frequency support for power system, so adding frequency control in wind farm and VSC-HVDC system is an effective measure, but it will change wind farm VSC-HVDC’s transient stability on power system. Through theoretical analysis, concluding the relationship between equivalent mechanical power and electromagnetic power of two-machine system with the active power of wind farm VSC-HVDC, then analyzing the impact of wind farm VSC-HVDC with or without frequency control and different frequency control parameters on angle stability of synchronous machine by EEAC. The validity of theoretical analysis has been demonstrated through simulation in PSCAD/EMTDC.

Crash problem definition and safety benefits methodology for stability control for single-unit medium and heavy trucks and large-platform buses

DOT National Transportation Integrated Search

2009-10-01

This report presents the findings of a comprehensive engineering analysis of electronic stability control (ESC) and roll stability control (RSC) systems for single-unit medium and heavy trucks and large-platform buses. This report details the applica...

A New Fuzzy-Evidential Controller for Stabilization of the Planar Inverted Pendulum System

PubMed Central

Tang, Yongchuan; Zhou, Deyun

2016-01-01

In order to realize the stability control of the planar inverted pendulum system, which is a typical multi-variable and strong coupling system, a new fuzzy-evidential controller based on fuzzy inference and evidential reasoning is proposed. Firstly, for each axis, a fuzzy nine-point controller for the rod and a fuzzy nine-point controller for the cart are designed. Then, in order to coordinate these two controllers of each axis, a fuzzy-evidential coordinator is proposed. In this new fuzzy-evidential controller, the empirical knowledge for stabilization of the planar inverted pendulum system is expressed by fuzzy rules, while the coordinator of different control variables in each axis is built incorporated with the dynamic basic probability assignment (BPA) in the frame of fuzzy inference. The fuzzy-evidential coordinator makes the output of the control variable smoother, and the control effect of the new controller is better compared with some other work. The experiment in MATLAB shows the effectiveness and merit of the proposed method. PMID:27482707

A New Fuzzy-Evidential Controller for Stabilization of the Planar Inverted Pendulum System.

PubMed

Tang, Yongchuan; Zhou, Deyun; Jiang, Wen

2016-01-01

In order to realize the stability control of the planar inverted pendulum system, which is a typical multi-variable and strong coupling system, a new fuzzy-evidential controller based on fuzzy inference and evidential reasoning is proposed. Firstly, for each axis, a fuzzy nine-point controller for the rod and a fuzzy nine-point controller for the cart are designed. Then, in order to coordinate these two controllers of each axis, a fuzzy-evidential coordinator is proposed. In this new fuzzy-evidential controller, the empirical knowledge for stabilization of the planar inverted pendulum system is expressed by fuzzy rules, while the coordinator of different control variables in each axis is built incorporated with the dynamic basic probability assignment (BPA) in the frame of fuzzy inference. The fuzzy-evidential coordinator makes the output of the control variable smoother, and the control effect of the new controller is better compared with some other work. The experiment in MATLAB shows the effectiveness and merit of the proposed method.

Spacecraft flight control system design selection process for a geostationary communication satellite

NASA Technical Reports Server (NTRS)

Barret, C.

1992-01-01

The Earth's first artificial satellite, Sputnik 1, slowly tumbled in orbit. The first U.S. satellite, Explorer 1, also tumbled out of control. Now, as we launch the Mars observer and the Cassini spacecraft, stability and control have become higher priorities. The flight control system design selection process is reviewed using as an example a geostationary communication satellite which is to have a life expectancy of 10 to 14 years. Disturbance torques including aerodynamic, magnetic, gravity gradient, solar, micrometeorite, debris, collision, and internal torques are assessed to quantify the disturbance environment so that the required compensating torque can be determined. Then control torque options, including passive versus active, momentum control, bias momentum, spin stabilization, dual spin, gravity gradient, magnetic, reaction wheels, control moment gyros, nutation dampers, inertia augmentation techniques, three-axis control, reactions control system (RCS), and RCS sizing, are considered. A flight control system design is then selected and preliminary stability criteria are met by the control gains selection.

Dynamics, stability, and control of maglev systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cai, Y.; Chen, S.S.; Rote, D.M.

1993-06-01

The dynamic response of maglev systems is important in several respects: Safety and ride quality, guideway design, and system costs. The dynamic response of vehicles is the key element in the determination of ride quality, and vehicle stability is one of the important elements relative to safety. To design a proper guideway that provides acceptable ride quality in the stable region, the vehicle dynamics must be understood. The trade-off between guideway smoothness and the levitation and control systems must be considered if maglev systems are to be economically feasible. This paper is a summary of our previous work on dynamics,more » stability and control of maglev systems. First of all, the importance of dynamics of vehicle/guideway of maglev systems is discussed. Emphasis is placed on the modeling vehicle/guideway interactions of maglev systems with a multicar, or multiload vehicle traversing on a single or double-span flexible guideway. Coupled effects of vehicle/guideway interactions in wide range of vehicle speeds with various vehicle and guideway parameters for maglev systems are investigated. Secondly, the alternative control designs of maglev vehicle suspension systems are investigated in this study to achieve safe, stable operation and acceptable ride comfort requires some form of vehicle motion control. Active and semi-active control law designs are introduced into primary and secondary suspensions of maglev vehicles. Finally, this paper discusses the stability of maglev systems based on experimental data, scoping calculations, and simple mathematical models. Divergence and flutter are obtained for coupled vibration of a three-degree-of-freedom maglev vehicle on a guideway consisting of double L-shaped aluminum segments. The theory and analysis developed in this study provides basic stability characteristics and identifies future research needs for maglev systems.« less

Dynamics, stability, and control of maglev systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cai, Y.; Chen, S.S.; Rote, D.M.

1993-01-01

The dynamic response of maglev systems is important in several respects: Safety and ride quality, guideway design, and system costs. The dynamic response of vehicles is the key element in the determination of ride quality, and vehicle stability is one of the important elements relative to safety. To design a proper guideway that provides acceptable ride quality in the stable region, the vehicle dynamics must be understood. The trade-off between guideway smoothness and the levitation and control systems must be considered if maglev systems are to be economically feasible. This paper is a summary of our previous work on dynamics,more » stability and control of maglev systems. First of all, the importance of dynamics of vehicle/guideway of maglev systems is discussed. Emphasis is placed on the modeling vehicle/guideway interactions of maglev systems with a multicar, or multiload vehicle traversing on a single or double-span flexible guideway. Coupled effects of vehicle/guideway interactions in wide range of vehicle speeds with various vehicle and guideway parameters for maglev systems are investigated. Secondly, the alternative control designs of maglev vehicle suspension systems are investigated in this study to achieve safe, stable operation and acceptable ride comfort requires some form of vehicle motion control. Active and semi-active control law designs are introduced into primary and secondary suspensions of maglev vehicles. Finally, this paper discusses the stability of maglev systems based on experimental data, scoping calculations, and simple mathematical models. Divergence and flutter are obtained for coupled vibration of a three-degree-of-freedom maglev vehicle on a guideway consisting of double L-shaped aluminum segments. The theory and analysis developed in this study provides basic stability characteristics and identifies future research needs for maglev systems.« less

Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

PubMed

Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

2017-09-19

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

Decentralized adaptive control of robot manipulators with robust stabilization design

NASA Technical Reports Server (NTRS)

Yuan, Bau-San; Book, Wayne J.

1988-01-01

Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.

Stability and chaotification of vibration isolation floating raft systems with time-delayed feedback control.

PubMed

Li, Y L; Xu, D L; Fu, Y M; Zhou, J X

2011-09-01

This paper presents a systematic study on the stability of a two-dimensional vibration isolation floating raft system with a time-delayed feedback control. Based on the generalized Sturm criterion, the critical control gain for the delay-independent stability region and critical time delays for the stability switches are derived. The critical conditions can provide a theoretical guidance of chaotification design for line spectra reduction. Numerical simulations verify the correctness of the approach. Bifurcation analyses reveal that chaotification is more likely to occur in unstable region defined by these critical conditions, and the stiffness of the floating raft and mass ratio are the sensitive parameters to reduce critical control gain.

Backstepping-based boundary control design for a fractional reaction diffusion system with a space-dependent diffusion coefficient.

PubMed

Chen, Juan; Cui, Baotong; Chen, YangQuan

2018-06-11

This paper presents a boundary feedback control design for a fractional reaction diffusion (FRD) system with a space-dependent (non-constant) diffusion coefficient via the backstepping method. The contribution of this paper is to generalize the results of backstepping-based boundary feedback control for a FRD system with a space-independent (constant) diffusion coefficient to the case of space-dependent diffusivity. For the boundary stabilization problem of this case, a designed integral transformation treats it as a problem of solving a hyperbolic partial differential equation (PDE) of transformation's kernel, then the well posedness of the kernel PDE is solved for the plant with non-constant diffusivity. Furthermore, by the fractional Lyapunov stability (Mittag-Leffler stability) theory and the backstepping-based boundary feedback controller, the Mittag-Leffler stability of the closed-loop FRD system with non-constant diffusivity is proved. Finally, an extensive numerical example for this closed-loop FRD system with non-constant diffusivity is presented to verify the effectiveness of our proposed controller. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Cooperative control theory and integrated flight and propulsion control

NASA Technical Reports Server (NTRS)

Schmidt, David K.; Schierman, John D.

1995-01-01

The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multivariable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. In these example evaluations, the significance of these interactions was underscored. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important nonlinear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multivariable techniques, including model-following formulations of LQG and/or H infinity methods, showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods. The major contributions of the second phase of the grant was the development of conditions under which no decentralized controller could achieve closed loop system requirements on stability and/or performance. Sought were conditions that depended only on properties of the plant and the requirement, and independent of any particular control law or synthesis approach. Therefore, they could be applied a priori, before synthesis of a candidate control law. Under this grant, such conditions were found regarding stability, and encouraging initial results were obtained regarding performance.

Minimization of transmission cost in decentralized control systems

NASA Technical Reports Server (NTRS)

Wang, S.-H.; Davison, E. J.

1978-01-01

This paper considers the problem of stabilizing a linear time-invariant multivariable system by using local feedback controllers and some limited information exchange among local stations. The problem of achieving a given degree of stability with minimum transmission cost is solved.

X-29A flight control system performance during flight test

NASA Technical Reports Server (NTRS)

Chin, J.; Chacon, V.; Gera, J.

1987-01-01

An account is given of flight control system performance results for the X-29A forward-swept wing 'Advanced Technology Demonstrator' fighter aircraft, with attention to its software and hardware components' achievement of the requisite levels of system stability and desirable aircraft handling qualities. The Automatic Camber Control Logic is found to be well integrated with the stability loop of the aircraft. A number of flight test support software programs developed by NASA facilitated monitoring of the X-29A's stability in real time, and allowed the test team to clear the envelope with confidence.

Constrained dynamics approach for motion synchronization and consensus

NASA Astrophysics Data System (ADS)

Bhatia, Divya

In this research we propose to develop constrained dynamical systems based stable attitude synchronization, consensus and tracking (SCT) control laws for the formation of rigid bodies. The generalized constrained dynamics Equations of Motion (EOM) are developed utilizing constraint potential energy functions that enforce communication constraints. Euler-Lagrange equations are employed to develop the non-linear constrained dynamics of multiple vehicle systems. The constraint potential energy is synthesized based on a graph theoretic formulation of the vehicle-vehicle communication. Constraint stabilization is achieved via Baumgarte's method. The performance of these constrained dynamics based formations is evaluated for bounded control authority. The above method has been applied to various cases and the results have been obtained using MATLAB simulations showing stability, synchronization, consensus and tracking of formations. The first case corresponds to an N-pendulum formation without external disturbances, in which the springs and the dampers connected between the pendulums act as the communication constraints. The damper helps in stabilizing the system by damping the motion whereas the spring acts as a communication link relaying relative position information between two connected pendulums. Lyapunov stabilization (energy based stabilization) technique is employed to depict the attitude stabilization and boundedness. Various scenarios involving different values of springs and dampers are simulated and studied. Motivated by the first case study, we study the formation of N 2-link robotic manipulators. The governing EOM for this system is derived using Euler-Lagrange equations. A generalized set of communication constraints are developed for this system using graph theory. The constraints are stabilized using Baumgarte's techniques. The attitude SCT is established for this system and the results are shown for the special case of three 2-link robotic manipulators. These methods are then applied to the formation of N-spacecraft. Modified Rodrigues Parameters (MRP) are used for attitude representation of the spacecraft because of their advantage of being a minimum parameter representation. Constrained non-linear equations of motion for this system are developed and stabilized using a Proportional-Derivative (PD) controller derived based on Baumgarte's method. A system of 3 spacecraft is simulated and the results for SCT are shown and analyzed. Another problem studied in this research is that of maintaining SCT under unknown external disturbances. We use an adaptive control algorithm to derive control laws for the actuator torques and develop an estimation law for the unknown disturbance parameters to achieve SCT. The estimate of the disturbance is added as a feed forward term in the actual control law to obtain the stabilization of a 3-spacecraft formation. The disturbance estimates are generated via a Lyapunov analysis of the closed loop system. In summary, the constrained dynamics method shows a lot of potential in formation control, achieving stabilization, synchronization, consensus and tracking of a set of dynamical systems.

Fuzzy Logic Controller Stability Analysis Using a Satisfiability Modulo Theories Approach

NASA Technical Reports Server (NTRS)

Arnett, Timothy; Cook, Brandon; Clark, Matthew A.; Rattan, Kuldip

2017-01-01

While many widely accepted methods and techniques exist for validation and verification of traditional controllers, at this time no solutions have been accepted for Fuzzy Logic Controllers (FLCs). Due to the highly nonlinear nature of such systems, and the fact that developing a valid FLC does not require a mathematical model of the system, it is quite difficult to use conventional techniques to prove controller stability. Since safety-critical systems must be tested and verified to work as expected for all possible circumstances, the fact that FLC controllers cannot be tested to achieve such requirements poses limitations on the applications for such technology. Therefore, alternative methods for verification and validation of FLCs needs to be explored. In this study, a novel approach using formal verification methods to ensure the stability of a FLC is proposed. Main research challenges include specification of requirements for a complex system, conversion of a traditional FLC to a piecewise polynomial representation, and using a formal verification tool in a nonlinear solution space. Using the proposed architecture, the Fuzzy Logic Controller was found to always generate negative feedback, but inconclusive for Lyapunov stability.

Sliding Mode Control of Fractional-Order Delayed Memristive Chaotic System with Uncertainty and Disturbance

NASA Astrophysics Data System (ADS)

Ding, Da-Wei; Liu, Fang-Fang; Chen, Hui; Wang, Nian; Liang, Dong

2017-12-01

In this paper, a simplest fractional-order delayed memristive chaotic system is proposed in order to control the chaos behaviors via sliding mode control strategy. Firstly, we design a sliding mode control strategy for the fractional-order system with time delay to make the states of the system asymptotically stable. Then, we obtain theoretical analysis results of the control method using Lyapunov stability theorem which guarantees the asymptotic stability of the non-commensurate order and commensurate order system with and without uncertainty and an external disturbance. Finally, numerical simulations are given to verify that the proposed sliding mode control method can eliminate chaos and stabilize the fractional-order delayed memristive system in a finite time. Supported by the National Nature Science Foundation of China under Grant No. 61201227, Funding of China Scholarship Council, the Natural Science Foundation of Anhui Province under Grant No. 1208085M F93, 211 Innovation Team of Anhui University under Grant Nos. KJTD007A and KJTD001B

A gimbal platform stabilization for topographic applications

DOE Office of Scientific and Technical Information (OSTI.GOV)

Michele, Mangiameli, E-mail: michele.mangiameli@dica.unict.it; Giuseppe, Mussumeci

2015-03-10

The aim of this work is the stabilization of a Gimbal platform for optical sensors acquisitions in topographic applications using mobile vehicles. The stabilization of the line of sight (LOS) consists in tracking the command velocity in presence of nonlinear noise due to the external environment. The hardware architecture is characterized by an Ardupilot platform that allows the control of both the mobile device and the Gimbal. Here we developed a new approach to stabilize the Gimbal platform, which is based on neural network. For the control system, we considered a plant that represents the transfer function of the servomore » system control model for an inertial stabilized Gimbal platform. The transductor used in the feed-back line control is characterized by the Rate Gyro transfer function installed onboard of Ardupilot. For the simulation and investigation of the system performance, we used the Simulink tool of Matlab. Results show that the hardware/software approach is efficient, reliable and cheap for direct photogrammetry, as well as for general purpose applications using mobile vehicles.« less

Finite time control for MIMO nonlinear system based on higher-order sliding mode.

PubMed

Liu, Xiangjie; Han, Yaozhen

2014-11-01

Considering a class of MIMO uncertain nonlinear system, a novel finite time stable control algorithm is proposed based on higher-order sliding mode concept. The higher-order sliding mode control problem of MIMO nonlinear system is firstly transformed into finite time stability problem of multivariable system. Then continuous control law, which can guarantee finite time stabilization of nominal integral chain system, is employed. The second-order sliding mode is used to overcome the system uncertainties. High frequency chattering phenomenon of sliding mode is greatly weakened, and the arbitrarily fast convergence is reached. The finite time stability is proved based on the quadratic form Lyapunov function. Examples concerning the triple integral chain system with uncertainty and the hovercraft trajectory tracking are simulated respectively to verify the effectiveness and the robustness of the proposed algorithm. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Coupling effect and control strategies of the maglev dual-stage inertially stabilization system based on frequency-domain analysis.

PubMed

Lin, Zhuchong; Liu, Kun; Zhang, Li; Zeng, Delin

2016-09-01

Maglev dual-stage inertially stabilization (MDIS) system is a newly proposed system which combines a conventional two-axis gimbal assembly and a 5-DOF (degree of freedom) magnetic bearing with vernier tilting capacity to perform dual-stage stabilization for the LOS of the suspended optical instrument. Compared with traditional dual-stage system, maglev dual-stage system exhibits different characteristics due to the negative position stiffness of the magnetic forces, which introduces additional coupling in the dual stage control system. In this paper, the coupling effect on the system performance is addressed based on frequency-domain analysis, including disturbance rejection, fine stage saturation and coarse stage structural resonance suppression. The difference between various control strategies is also discussed, including pile-up(PU), stabilize-follow (SF) and stabilize-compensate (SC). A number of principles for the design of a maglev dual stage system are proposed. A general process is also suggested, which leads to a cost-effective design striking a balance between high performance and complexity. At last, a simulation example is presented to illustrate the arguments in the paper. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A novel pre-control method of vehicle dynamics stability based on critical stable velocity during transient steering maneuvering

NASA Astrophysics Data System (ADS)

Chen, Jie; Song, Jian; Li, Liang; Ran, Xu; Jia, Gang; Wu, Kaihui

2016-05-01

The current research of direct yaw moment control (DYC) system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lateral stability of the vehicle, however, the effect of DYC can be improved a step further by applying the control of vehicle longitudinal velocity. In this paper, the relationship between the vehicle longitudinal velocity and lateral stability is studied, and the simulation results show that a decrease of 5 km/h of longitudinal velocity at a particular situation can bring 100° increasing of stable steering upper limit. A critical stable velocity considering the effect of steering and yaw rate measurement is defined to evaluate the risk of losing steer-ability or stability. A novel velocity pre-control method is proposed by using a hierarchical pre-control logic and is integrated with the traditional DYC system. The control algorithm is verified through a hardware in-the-loop simulation system. Double lane change (DLC) test results on both high friction coefficient (μ) and low μ roads show that by using the pre-control method, the steering effort in DLC test can be reduced by 38% and 51% and the peak value of brake pressure control can be reduced by 20% and 12% respectively on high μ and low μ roads, the lateral stability is also improved. This research proposes a novel DYC system with lighter control effort and better control effect.

Reinforcement-Learning-Based Robust Controller Design for Continuous-Time Uncertain Nonlinear Systems Subject to Input Constraints.

PubMed

Liu, Derong; Yang, Xiong; Wang, Ding; Wei, Qinglai

2015-07-01

The design of stabilizing controller for uncertain nonlinear systems with control constraints is a challenging problem. The constrained-input coupled with the inability to identify accurately the uncertainties motivates the design of stabilizing controller based on reinforcement-learning (RL) methods. In this paper, a novel RL-based robust adaptive control algorithm is developed for a class of continuous-time uncertain nonlinear systems subject to input constraints. The robust control problem is converted to the constrained optimal control problem with appropriately selecting value functions for the nominal system. Distinct from typical action-critic dual networks employed in RL, only one critic neural network (NN) is constructed to derive the approximate optimal control. Meanwhile, unlike initial stabilizing control often indispensable in RL, there is no special requirement imposed on the initial control. By utilizing Lyapunov's direct method, the closed-loop optimal control system and the estimated weights of the critic NN are proved to be uniformly ultimately bounded. In addition, the derived approximate optimal control is verified to guarantee the uncertain nonlinear system to be stable in the sense of uniform ultimate boundedness. Two simulation examples are provided to illustrate the effectiveness and applicability of the present approach.

Performance and stability of telemanipulators using bilateral impedance control. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Moore, Christopher Lane

1991-01-01

A new method of control for telemanipulators called bilateral impedance control is investigated. This new method differs from previous approaches in that interaction forces are used as the communication signals between the master and slave robots. The new control architecture has several advantages: (1) It allows the master robot and the slave robot to be stabilized independently without becoming involved in the overall system dynamics; (2) It permits the system designers to arbitrarily specify desired performance characteristics such as the force and position ratios between the master and slave; (3) The impedance at both ends of the telerobotic system can be modulated to suit the requirements of the task. The main goals of the research are to characterize the performance and stability of the new control architecture. The dynamics of the telerobotic system are described by a bond graph model that illustrates how energy is transformed, stored, and dissipated. Performance can be completely described by a set of three independent parameters. These parameters are fundamentally related to the structure of the H matrix that regulates the communication of force signals within the system. Stability is analyzed with two mathematical techniques: the Small Gain Theorem and the Multivariable Nyquist Criterion. The theoretical predictions for performance and stability are experimentally verified by implementing the new control architecture on a multidegree of freedom telemanipulator.

The near optimality of the stabilizing control in a weakly nonlinear system with state-dependent coefficients

NASA Astrophysics Data System (ADS)

Dmitriev, Mikhail G.; Makarov, Dmitry A.

2016-08-01

We carried out analysis of near optimality of one computationally effective nonlinear stabilizing control built for weakly nonlinear systems with coefficients depending on the state and the formal small parameter. First investigation of that problem was made in [M. G. Dmitriev, and D. A. Makarov, "The suboptimality of stabilizing regulator in a quasi-linear system with state-depended coefficients," in 2016 International Siberian Conference on Control and Communications (SIBCON) Proceedings, National Research University, Moscow, 2016]. In this paper, another optimal control and gain matrix representations were used and theoretical results analogous to cited work above were obtained. Also as in the cited work above the form of quality criterion on which this close-loop control is optimal was constructed.

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

2014-01-01

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a generalized stability metric for time-varying loop=gain perturbations is needed for the AAC.

Flatness-based adaptive fuzzy control of chaotic finance dynamics

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Loia, V.; Tommasetti, A.; Troisi, O.

2017-11-01

A flatness-based adaptive fuzzy control is applied to the problem of stabilization of the dynamics of a chaotic finance system, describing interaction between the interest rate, the investment demand and the price exponent. By proving that the system is differentially flat and by applying differential flatness diffeomorphisms, its transformation to the linear canonical (Brunovsky) is performed. For the latter description of the system, the design of a stabilizing state feedback controller becomes possible. A first problem in the design of such a controller is that the dynamic model of the finance system is unknown and thus it has to be identified with the use neurofuzzy approximators. The estimated dynamics provided by the approximators is used in the computation of the control input, thus establishing an indirect adaptive control scheme. The learning rate of the approximators is chosen from the requirement the system's Lyapunov function to have always a negative first-order derivative. Another problem that has to be dealt with is that the control loop is implemented only with the use of output feedback. To estimate the non-measurable state vector elements of the finance system, a state observer is implemented in the control loop. The computation of the feedback control signal requires the solution of two algebraic Riccati equations at each iteration of the control algorithm. Lyapunov stability analysis demonstrates first that an H-infinity tracking performance criterion is satisfied. This signifies elevated robustness against modelling errors and external perturbations. Moreover, the global asymptotic stability is proven for the control loop.

Poppet valve control of throat stability bypass to increase stable airflow range of a Mach 2.5. inlet with 60 percent internal contraction

NASA Technical Reports Server (NTRS)

Mitchell, G. A.; Sanders, B. W.

1975-01-01

The throat of a Mach 2.5 inlet with a coldpipe termination was fitted with a stability-bypass system. System variations included several stability bypass entrance configurations. Poppet valves controlled the bypass airflow. The inlet stable airflow range achieved with each configuration was determined for both steady state conditions and internal pulse transients. Results are compared with those obtained without a stability bypass system. Transient results were also obtained for the inlet with a choke point at the diffuser exit and for the inlet with large and small stability bypass plenum volumes. Poppet valves at the stability bypass exit provided the inlet with a stable airflow range of 20 percent or greater at all static and transient conditions.

Frequency control of wind turbine in power system

NASA Astrophysics Data System (ADS)

Xu, Huawei

2018-06-01

In order to improve the stability of the overall frequency of the power system, automatic power generation control and secondary frequency adjustment were applied. Automatic power generation control was introduced into power generation planning. A dual-fed wind generator power regulation model suitable for secondary frequency regulation was established. The results showed that this method satisfied the basic requirements of frequency regulation control of large-scale wind power access power systems and improved the stability and reliability of power system operation. Therefore, this system frequency control method and strategy is relatively simple. The effect is significant. The system frequency can quickly reach a steady state. It is worth applying and promoting.

Sensitivity analysis of automatic flight control systems using singular value concepts

NASA Technical Reports Server (NTRS)

Herrera-Vaillard, A.; Paduano, J.; Downing, D.

1985-01-01

A sensitivity analysis is presented that can be used to judge the impact of vehicle dynamic model variations on the relative stability of multivariable continuous closed-loop control systems. The sensitivity analysis uses and extends the singular-value concept by developing expressions for the gradients of the singular value with respect to variations in the vehicle dynamic model and the controller design. Combined with a priori estimates of the accuracy of the model, the gradients are used to identify the elements in the vehicle dynamic model and controller that could severely impact the system's relative stability. The technique is demonstrated for a yaw/roll damper stability augmentation designed for a business jet.

Control and stabilization of decentralized systems

NASA Technical Reports Server (NTRS)

Byrnes, Christopher I.; Gilliam, David; Martin, Clyde F.

1989-01-01

Proceeding from the problem posed by the need to stabilize the motion of two helicopters maneuvering a single load, a methodology is developed for the stabilization of classes of decentralized systems based on a more algebraic approach, which involves the external symmetries of decentralized systems. Stabilizing local-feedback laws are derived for any class of decentralized systems having a semisimple algebra of symmetries; the helicopter twin-lift problem, as well as certain problems involving the stabilization of discretizations of distributed parameter problems, have just such algebras of symmetries.

Development and flight evaluation of an augmented stability active controls concept with a small tail

NASA Technical Reports Server (NTRS)

1980-01-01

Parasite drag reduction evaluation is composed of wind tunnel tests with a standard L-1011 tail and two reduced area tail configurations. Trim drag reduction is evaluated by rebalancing the airplane for relaxed static stability. This is accomplished by pumping water to tanks in the forward and aft of the airplane to acheive desired center of gravity location. Also, the L-1011 is modified to incorporate term and advanced augmented systems. By using advanced wings and aircraft relaxed static stability significant fuel savings can be realized. An airplane's dynamic stability becomes more sensitive for decreased tail size, relaxed static stability, and advanced wing configurations. Active control pitch augmentation will be used to acheive the required handling qualities. Flight tests will be performed to evaluate the pitch augmentation systems. The effect of elevator downrig on stabilizer/elevator hinge moments will be measured. For control system analysis, the normal acceleration feedback and pitch rate feedback are analyzed.

A novel approach to periodic event-triggered control: Design and application to the inverted pendulum.

PubMed

Aranda-Escolástico, Ernesto; Guinaldo, María; Gordillo, Francisco; Dormido, Sebastián

2016-11-01

In this paper, periodic event-triggered controllers are proposed for the rotary inverted pendulum. The control strategy is divided in two steps: swing-up and stabilization. In both cases, the system is sampled periodically but the control actions are only computed at certain instances of time (based on events), which are a subset of the sampling times. For the stabilization control, the asymptotic stability is guaranteed applying the Lyapunov-Razumikhin theorem for systems with delays. This result is applicable to general linear systems and not only to the inverted pendulum. For the swing-up control, a trigger function is provided from the derivative of the Lyapunov function for the swing-up control law. Experimental results show a significant improvement with respect to periodic control in the number of control actions. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

PubMed Central

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-01-01

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

CSI, optimal control, and accelerometers: Trials and tribulations

NASA Technical Reports Server (NTRS)

Benjamin, Brian J.; Sesak, John R.

1994-01-01

New results concerning optimal design with accelerometers are presented. These results show that the designer must be concerned with the stability properties of two Linear Quadratic Gaussian (LQG) compensators, one of which does not explicitly appear in the closed-loop system dynamics. The new concepts of virtual and implemented compensators are introduced to cope with these subtleties. The virtual compensator appears in the closed-loop system dynamics and the implemented compensator appears in control electronics. The stability of one compensator does not guarantee the stability of the other. For strongly stable (robust) systems, both compensators should be stable. The presence of controlled and uncontrolled modes in the system results in two additional forms of the compensator with corresponding terms that are of like form, but opposite sign, making simultaneous stabilization of both the virtual and implemented compensator difficult. A new design algorithm termed sensor augmentation is developed that aids stabilization of these compensator forms by incorporating a static augmentation term associated with the uncontrolled modes in the design process.

Flatness-based control and Kalman filtering for a continuous-time macroeconomic model

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Ghosh, T.; Busawon, K.; Binns, R.

2017-11-01

The article proposes flatness-based control for a nonlinear macro-economic model of the UK economy. The differential flatness properties of the model are proven. This enables to introduce a transformation (diffeomorphism) of the system's state variables and to express the state-space description of the model in the linear canonical (Brunowsky) form in which both the feedback control and the state estimation problem can be solved. For the linearized equivalent model of the macroeconomic system, stabilizing feedback control can be achieved using pole placement methods. Moreover, to implement stabilizing feedback control of the system by measuring only a subset of its state vector elements the Derivative-free nonlinear Kalman Filter is used. This consists of the Kalman Filter recursion applied on the linearized equivalent model of the financial system and of an inverse transformation that is based again on differential flatness theory. The asymptotic stability properties of the control scheme are confirmed.

Suppression of flutter

NASA Technical Reports Server (NTRS)

Nissim, E. (Inventor)

1973-01-01

An active aerodynamic control system to control flutter over a large range of oscillatory frequencies is described. The system is not affected by mass, stiffness, elastic axis, or center of gravity location of the system, mode of vibration, or Mach number. The system consists of one or more pairs of leading edge and trailing edge hinged or deformable control surfaces, each pair operated in concert by a stability augmentation system. Torsion and bending motions are sensed and converted by the stability augmentation system into leading and trailing edge control surface deflections which produce lift forces and pitching moments to suppress flutter.

Guidance and control/ACEE

NASA Technical Reports Server (NTRS)

1981-01-01

Active controls improve airplane performance by stabilizing its flight, reducing departures from stable flight, and alleviating loads imposed by external forces such as gusts, turbulence, or maneuvers. Some uses for active control systems, the design of redundant and reliable stability augmentation systems, digital fly-by-wire, and NASA assessments of the technology of sensors and actuators are discussed. A series of trade-off studies to better define optimum flight control systems, and research by drone and full-scale models are described.

An Artificial Neural Network Control System for Spacecraft Attitude Stabilization

DTIC Science & Technology

1990-06-01

NAVAL POSTGRADUATE SCHOOL Monterey, California ’-DTIC 0 ELECT f NMARO 5 191 N S, U, THESIS B . AN ARTIFICIAL NEURAL NETWORK CONTROL SYSTEM FOR...NO. NO. NO ACCESSION NO 11. TITLE (Include Security Classification) AN ARTIFICIAL NEURAL NETWORK CONTROL SYSTEM FOR SPACECRAFT ATTITUDE STABILIZATION...obsolete a U.S. G v pi.. iim n P.. oiice! toog-eo.5s43 i Approved for public release; distribution is unlimited. AN ARTIFICIAL NEURAL NETWORK CONTROL

Stability of uncertain impulsive complex-variable chaotic systems with time-varying delays.

PubMed

Zheng, Song

2015-09-01

In this paper, the robust exponential stabilization of uncertain impulsive complex-variable chaotic delayed systems is considered with parameters perturbation and delayed impulses. It is assumed that the considered complex-variable chaotic systems have bounded parametric uncertainties together with the state variables on the impulses related to the time-varying delays. Based on the theories of adaptive control and impulsive control, some less conservative and easily verified stability criteria are established for a class of complex-variable chaotic delayed systems with delayed impulses. Some numerical simulations are given to validate the effectiveness of the proposed criteria of impulsive stabilization for uncertain complex-variable chaotic delayed systems. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Design of an unified chassis controller for rollover prevention, manoeuvrability and lateral stability

NASA Astrophysics Data System (ADS)

Yoon, Jangyeol; Yim, Seongjin; Cho, Wanki; Koo, Bongyeong; Yi, Kyongsu

2010-11-01

This paper describes a unified chassis control (UCC) strategy to prevent vehicle rollover and improve both manoeuvrability and lateral stability. Since previous researches on rollover prevention are only focused on the reduction of lateral acceleration, the manoeuvrability and lateral stability cannot be guaranteed. For this reason, it is necessary to design a UCC controller to prevent rollover and improve lateral stability by integrating electronic stability control, active front steering and continuous damping control. This integration is performed through switching among several control modes and a simulation is performed to validate the proposed method. Simulation results indicate that a significant improvement in rollover prevention, manoeuvrability and lateral stability can be expected from the proposed UCC system.

Adaptive sliding mode control for finite-time stability of quad-rotor UAVs with parametric uncertainties.

PubMed

Mofid, Omid; Mobayen, Saleh

2018-01-01

Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Sufficient conditions for asymptotic stability and stabilization of autonomous fractional order systems

NASA Astrophysics Data System (ADS)

Lenka, Bichitra Kumar; Banerjee, Soumitro

2018-03-01

We discuss the asymptotic stability of autonomous linear and nonlinear fractional order systems where the state equations contain same or different fractional orders which lie between 0 and 2. First, we use the Laplace transform method to derive some sufficient conditions which ensure asymptotic stability of linear fractional order systems. Then by using the obtained results and linearization technique, a stability theorem is presented for autonomous nonlinear fractional order system. Finally, we design a control strategy for stabilization of autonomous nonlinear fractional order systems, and apply the results to the chaotic fractional order Lorenz system in order to verify its effectiveness.

DC Microgrids–Part I: A Review of Control Strategies and Stabilization Techniques

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dragicevic, Tomislav; Lu, Xiaonan; Vasquez, Juan

2015-01-01

This paper presents a review of control strategies, stability analysis, and stabilization techniques for dc microgrids (MGs). Overall control is systematically classified into local and coordinated control levels according to respective functionalities in each level. As opposed to local control, which relies only on local measurements, some line of communication between units needs to be made available in order to achieve the coordinated control. Depending on the communication method, three basic coordinated control strategies can be distinguished, i.e., decentralized, centralized, and distributed control. Decentralized control can be regarded as an extension of the local control since it is also basedmore » exclusively on local measurements. In contrast, centralized and distributed control strategies rely on digital communication technologies. A number of approaches using these three coordinated control strategies to achieve various control objectives are reviewed in this paper. Moreover, properties of dc MG dynamics and stability are discussed. This paper illustrates that tightly regulated point-of-load converters tend to reduce the stability margins of the system since they introduce negative impedances, which can potentially oscillate with lightly damped power supply input filters. It is also demonstrated that how the stability of the whole system is defined by the relationship of the source and load impedances, referred to as the minor loop gain. Several prominent specifications for the minor loop gain are reviewed. Finally, a number of active stabilization techniques are presented.« less

Why have hydrostatic bearings been avoided as a stabilizing element for rotating machines

NASA Technical Reports Server (NTRS)

Bently, D. E.; Muszynska, A.

1985-01-01

The advantages are discussed of hydrostatic, high pressure bearings as providers of higher margin of stability to the rotor/bearing systems. It is apparent that deliberate use of hydrostatic bearing high pressure lubricated (any gas or liquid) can easily be used to build higher stability margin into rotating machinery, in spite of the thirty years bias against high pressure lubrication. Since this supply pressure is controllable (the Direct Dynamic Stiffness at lower eccentricity is also controllable) so that within some rotor system limits, the stability margin and dynamic response of the rotor system is more readily controllable. It may be possible to take advantage of this effect in the various seals, as well as the bearings, to assist with stability margin and dynamic response of rotating machinery. The stability of the bearing can be additionally improved by taking advantage of the anti-swirling concept. The high pressure fluid supply inlets should be located tangentially at the bearing circumference and directed against rotation. The incoming fluid flow creates stability by reducing the swirling rate.

The Design of Power System Stability Controller Based on the PCH Theory and Improved Genetic Algorithm

NASA Astrophysics Data System (ADS)

Liu, Zhijian; Yin, Donghui; Yan, Jun

2017-05-01

Low frequency oscillation is still frequently happened in the power system and it affects the safety and stability of power system directly. With the continuously expending of the interconnection scale of power grid, the risk of low frequency oscillation becomes more and more noticeable. Firstly, the basic theory of port-controlled Hamilton (PCH) and its application is analyzed. Secondly, based on the PCH theory and the dynamic model of system, from the viewpoint of energy, the nonlinear stability controller of power system is designed. By the improved genetic algorithm, the parameters of the PCH model are optimized. Finally, a simulation model with PCH is built to vary the effectiveness of the method proposed in this paper.

Ares-I Bending Filter Design using a Constrained Optimization Approach

NASA Technical Reports Server (NTRS)

Hall, Charles; Jang, Jiann-Woei; Hall, Robert; Bedrossian, Nazareth

2008-01-01

The Ares-I launch vehicle represents a challenging flex-body structural environment for control system design. Software filtering of the inertial sensor output is required to ensure adequate stable response to guidance commands while minimizing trajectory deviations. This paper presents a design methodology employing numerical optimization to develop the Ares-I bending filters. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares-I time-varying dynamics and control system can be frozen over a short period of time, the bending filters are designed to stabilize all the selected frozen-time launch control systems in the presence of parameter uncertainty. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constrains minimizes performance degradation caused by the addition of the bending filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The bending filter designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC MAVERIC 6DOF nonlinear time domain simulation.

Dynamic processes in regulation and some implications for biofeedback and biobehavioral interventions.

PubMed

Lehrer, Paul; Eddie, David

2013-06-01

Systems theory has long been used in psychology, biology, and sociology. This paper applies newer methods of control systems modeling for assessing system stability in health and disease. Control systems can be characterized as open or closed systems with feedback loops. Feedback produces oscillatory activity, and the complexity of naturally occurring oscillatory patterns reflects the multiplicity of feedback mechanisms, such that many mechanisms operate simultaneously to control the system. Unstable systems, often associated with poor health, are characterized by absence of oscillation, random noise, or a very simple pattern of oscillation. This modeling approach can be applied to a diverse range of phenomena, including cardiovascular and brain activity, mood and thermal regulation, and social system stability. External system stressors such as disease, psychological stress, injury, or interpersonal conflict may perturb a system, yet simultaneously stimulate oscillatory processes and exercise control mechanisms. Resonance can occur in systems with negative feedback loops, causing high-amplitude oscillations at a single frequency. Resonance effects can be used to strengthen modulatory oscillations, but may obscure other information and control mechanisms, and weaken system stability. Positive as well as negative feedback loops are important for system function and stability. Examples are presented of oscillatory processes in heart rate variability, and regulation of autonomic, thermal, pancreatic and central nervous system processes, as well as in social/organizational systems such as marriages and business organizations. Resonance in negative feedback loops can help stimulate oscillations and exercise control reflexes, but also can deprive the system of important information. Empirical hypotheses derived from this approach are presented, including that moderate stress may enhance health and functioning.

A Wind-Tunnel Parametric Investigation of Tiltrotor Whirl-Flutter Stability Boundaries

NASA Technical Reports Server (NTRS)

Piatak, David J.; Kvaternik, Raymond G.; Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Bennett, Richard L.; Brown, Ross K.

2001-01-01

A wind-tunnel investigation of tiltrotor whirl-flutter stability boundaries has been conducted on a 1/5-size semispan tiltrotor model known as the Wing and Rotor Aeroelastic Test System (WRATS) in the NASA-Langley Transonic Dynamics Tunnel as part of a joint NASA/Army/Bell Helicopter Textron, Inc. (BHTI) research program. The model was first developed by BHTI as part of the JVX (V-22) research and development program in the 1980's and was recently modified to incorporate a hydraulically-actuated swashplate control system for use in active controls research. The modifications have changed the model's pylon mass properties sufficiently to warrant testing to re-establish its baseline stability boundaries. A parametric investigation of the effect of rotor design variables on stability was also conducted. The model was tested in both the on-downstop and off-downstop configurations, at cruise flight and hover rotor rotational speeds, and in both air and heavy gas (R-134a) test mediums. Heavy gas testing was conducted to quantify Mach number compressibility effects on tiltrotor stability. Experimental baseline stability boundaries in air are presented with comparisons to results from parametric variations of rotor pitch-flap coupling and control system stiffness. Increasing the rotor pitch-flap coupling (delta(sub 3) more negative) was found to have a destabilizing effect on stability, while a reduction in control system stiffness was found to have little effect on whirl-flutter stability. Results indicate that testing in R-134a, and thus matching full-scale tip Mach number, has a destabilizing effect, which demonstrates that whirl-flutter stability boundaries in air are unconservative.

A neutral functional differential equation of Lurie type. [on asymptotic stability of feedback control

NASA Technical Reports Server (NTRS)

Chukwu, E. N.

1980-01-01

The problem of Lurie is posed for systems described by a functional differential equation of neutral type. Sufficient conditions are obtained for absolute stability for the controlled system if it is assumed that the uncontrolled plant equation is uniformly asymptotically stable. Both the direct and indirect control cases are treated.

Piloted simulator investigation of helicopter control systems effects on handling qualities during instrument flight

NASA Technical Reports Server (NTRS)

Forrest, R. D.; Chen, R. T. N.; Gerdes, R. M.; Alderete, T. S.; Gee, D. R.

1979-01-01

An exploratory piloted simulation was conducted to investigate the effects of the characteristics of helicopter flight control systems on instrument flight handling qualities. This joint FAA/NASA study was motivated by the need to improve instrument flight capability. A near-term objective is to assist in updating the airworthiness criteria for helicopter instrument flight. The experiment consisted of variations of single-rotor helicopter types and levels of stability and control augmentation systems (SCAS). These configurations were evaluated during an omnirange approach task under visual and instrument flight conditions. The levels of SCAS design included a simple rate damping system, collective decoupling plus rate damping, and an attitude command system with collective decoupling. A limited evaluation of stick force versus airspeed stability was accomplished. Some problems were experienced with control system mechanization which had a detrimental effect on longitudinal stability. Pilot ratings, pilot commentary, and performance data related to the task are presented.

Development and Testing of a High Stability Engine Control (HISTEC) System

NASA Technical Reports Server (NTRS)

Orme, John S.; DeLaat, John C.; Southwick, Robert D.; Gallops, George W.; Doane, Paul M.

1998-01-01

Flight tests were recently completed to demonstrate an inlet-distortion-tolerant engine control system. These flight tests were part of NASA's High Stability Engine Control (HISTEC) program. The objective of the HISTEC program was to design, develop, and flight demonstrate an advanced integrated engine control system that uses measurement-based, real-time estimates of inlet airflow distortion to enhance engine stability. With improved stability and tolerance of inlet airflow distortion, future engine designs may benefit from a reduction in design stall-margin requirements and enhanced reliability, with a corresponding increase in performance and decrease in fuel consumption. This paper describes the HISTEC methodology, presents an aircraft test bed description (including HISTEC-specific modifications) and verification and validation ground tests. Additionally, flight test safety considerations, test plan and technique design and approach, and flight operations are addressed. Some illustrative results are presented to demonstrate the type of analysis and results produced from the flight test program.

Modelling and Control of an Annular Momentum Control Device

NASA Technical Reports Server (NTRS)

Downer, James R.; Johnson, Bruce G.

1988-01-01

The results of a modelling and control study for an advanced momentum storage device supported on magnetic bearings are documented. The control challenge posed by this device lies in its dynamics being such a strong function of flywheel rotational speed. At high rotational speed, this can lead to open loop instabilities, resulting in requirements for minimum and maximum control bandwidths and gains for the stabilizing controllers. Using recently developed analysis tools for systems described by complex coefficient differential equations, the closed properties of the controllers were analyzed and stability properties established. Various feedback controllers are investigated and discussed. Both translational and angular dynamics compensators are developed, and measures of system stability and robustness to plant and operational speed variations are presented.

B-52 stability augmentation system reliability

NASA Technical Reports Server (NTRS)

Bowling, T. C.; Key, L. W.

1976-01-01

The B-52 SAS (Stability Augmentation System) was developed and retrofitted to nearly 300 aircraft. It actively controls B-52 structural bending, provides improved yaw and pitch damping through sensors and electronic control channels, and puts complete reliance on hydraulic control power for rudder and elevators. The system has experienced over 300,000 flight hours and has exhibited service reliability comparable to the results of the reliability test program. Development experience points out numerous lessons with potential application in the mechanization and development of advanced technology control systems of high reliability.

Helicopter force-feel and stability augmentation system with parallel servo-actuator

NASA Technical Reports Server (NTRS)

Hoh, Roger H. (Inventor)

2006-01-01

A force-feel system is implemented by mechanically coupling a servo-actuator to and in parallel with a flight control system. The servo-actuator consists of an electric motor, a gearing device, and a clutch. A commanded cockpit-flight-controller position is achieved by pilot actuation of a trim-switch. The position of the cockpit-flight-controller is compared with the commanded position to form a first error which is processed by a shaping function to correlate the first error with a commanded force at the cockpit-flight-controller. The commanded force on the cockpit-flight-controller provides centering forces and improved control feel for the pilot. In an embodiment, the force-feel system is used as the basic element of stability augmentation system (SAS). The SAS provides a stabilization signal that is compared with the commanded position to form a second error signal. The first error is summed with the second error for processing by the shaping function.

Development and flight test evaluation of a pitch stability augmentation system for a relaxed stability L-1011

NASA Technical Reports Server (NTRS)

Rising, J. J.

1982-01-01

The L-1011 has been flight tested to demonstrate the relaxed static stability concept as a means of obtaining significant drag benefits to achieve a more energy efficient transport. Satisfactory handling qualities were maintained with the design of an active control horizontal tail for stability and control augmentation to allow operation of the L-1011 at centers of gravity close to the neutral point. Prior to flight test, a motion base visual flight simulator program was performed to optimize the augmentation system. The system was successfully demonstrated in a test program totaling forty-eight actual flight hours.

Optimal placement of unified power flow controllers to improve dynamic voltage stability using power system variable based voltage stability indices.

PubMed

Albatsh, Fadi M; Ahmad, Shameem; Mekhilef, Saad; Mokhlis, Hazlie; Hassan, M A

2015-01-01

This study examines a new approach to selecting the locations of unified power flow controllers (UPFCs) in power system networks based on a dynamic analysis of voltage stability. Power system voltage stability indices (VSIs) including the line stability index (LQP), the voltage collapse proximity indicator (VCPI), and the line stability index (Lmn) are employed to identify the most suitable locations in the system for UPFCs. In this study, the locations of the UPFCs are identified by dynamically varying the loads across all of the load buses to represent actual power system conditions. Simulations were conducted in a power system computer-aided design (PSCAD) software using the IEEE 14-bus and 39- bus benchmark power system models. The simulation results demonstrate the effectiveness of the proposed method. When the UPFCs are placed in the locations obtained with the new approach, the voltage stability improves. A comparison of the steady-state VSIs resulting from the UPFCs placed in the locations obtained with the new approach and with particle swarm optimization (PSO) and differential evolution (DE), which are static methods, is presented. In all cases, the UPFC locations given by the proposed approach result in better voltage stability than those obtained with the other approaches.

Optimal Placement of Unified Power Flow Controllers to Improve Dynamic Voltage Stability Using Power System Variable Based Voltage Stability Indices

PubMed Central

Albatsh, Fadi M.; Ahmad, Shameem; Mekhilef, Saad; Mokhlis, Hazlie; Hassan, M. A.

2015-01-01

This study examines a new approach to selecting the locations of unified power flow controllers (UPFCs) in power system networks based on a dynamic analysis of voltage stability. Power system voltage stability indices (VSIs) including the line stability index (LQP), the voltage collapse proximity indicator (VCPI), and the line stability index (Lmn) are employed to identify the most suitable locations in the system for UPFCs. In this study, the locations of the UPFCs are identified by dynamically varying the loads across all of the load buses to represent actual power system conditions. Simulations were conducted in a power system computer-aided design (PSCAD) software using the IEEE 14-bus and 39- bus benchmark power system models. The simulation results demonstrate the effectiveness of the proposed method. When the UPFCs are placed in the locations obtained with the new approach, the voltage stability improves. A comparison of the steady-state VSIs resulting from the UPFCs placed in the locations obtained with the new approach and with particle swarm optimization (PSO) and differential evolution (DE), which are static methods, is presented. In all cases, the UPFC locations given by the proposed approach result in better voltage stability than those obtained with the other approaches. PMID:25874560

Development of A New Automotive Active Suspension System

NASA Astrophysics Data System (ADS)

Yousef Abdulhammed, Eng.; Eng. Hisham Elsherif, Dr, Prof.

2017-12-01

The main objective was to develop a smart new vehicle suspension system that minimizes the road irregularities impact on the driver, also to increase performance and stability of the vehicle at high speeds. The central idea is based on modifying the normal passive suspension system into a computer controller hydraulic actuated active suspension system simply by adding a new component such as a hydraulic cylinder on a normal passive system. The new suspension system is economical to be wildly used in consumer’s cars with low prices. The new added components was analytically tested and modeled according to different parameters. A new test rig was implemented to simulate a real quarter suspension system. The new suspension model was controlled by feedback controller according to the road conditions; the controller output controls the cylinder actuator to compensate the road oscillations and increases the vehicle stability for the passenger. Finally, to maximize the aerodynamics coefficients of the vehicle during high speeds by controlling the vehicle clearance level from the ground to achieve full stability, steering and fuel economy.

Dynamic modeling and ascent flight control of Ares-I Crew Launch Vehicle

NASA Astrophysics Data System (ADS)

Du, Wei

This research focuses on dynamic modeling and ascent flight control of large flexible launch vehicles such as the Ares-I Crew Launch Vehicle (CLV). A complete set of six-degrees-of-freedom dynamic models of the Ares-I, incorporating its propulsion, aerodynamics, guidance and control, and structural flexibility, is developed. NASA's Ares-I reference model and the SAVANT Simulink-based program are utilized to develop a Matlab-based simulation and linearization tool for an independent validation of the performance and stability of the ascent flight control system of large flexible launch vehicles. A linearized state-space model as well as a non-minimum-phase transfer function model (which is typical for flexible vehicles with non-collocated actuators and sensors) are validated for ascent flight control design and analysis. This research also investigates fundamental principles of flight control analysis and design for launch vehicles, in particular the classical "drift-minimum" and "load-minimum" control principles. It is shown that an additional feedback of angle-of-attack can significantly improve overall performance and stability, especially in the presence of unexpected large wind disturbances. For a typical "non-collocated actuator and sensor" control problem for large flexible launch vehicles, non-minimum-phase filtering of "unstably interacting" bending modes is also shown to be effective. The uncertainty model of a flexible launch vehicle is derived. The robust stability of an ascent flight control system design, which directly controls the inertial attitude-error quaternion and also employs the non-minimum-phase filters, is verified by the framework of structured singular value (mu) analysis. Furthermore, nonlinear coupled dynamic simulation results are presented for a reference model of the Ares-I CLV as another validation of the feasibility of the ascent flight control system design. Another important issue for a single main engine launch vehicle is stability under mal-function of the roll control system. The roll motion of the Ares-I Crew Launch Vehicle under nominal flight conditions is actively stabilized by its roll control system employing thrusters. This dissertation describes the ascent flight control design problem of Ares-I in the event of disabled or failed roll control. A simple pitch/yaw control logic is developed for such a technically challenging problem by exploiting the inherent versatility of a quaternion-based attitude control system. The proposed scheme requires only the desired inertial attitude quaternion to be re-computed using the actual uncontrolled roll angle information to achieve an ascent flight trajectory identical to the nominal flight case with active roll control. Another approach that utilizes a simple adjustment of the proportional-derivative gains of the quaternion-based flight control system without active roll control is also presented. This approach doesn't require the re-computation of desired inertial attitude quaternion. A linear stability criterion is developed for proper adjustments of attitude and rate gains. The linear stability analysis results are validated by nonlinear simulations of the ascent flight phase. However, the first approach, requiring a simple modification of the desired attitude quaternion, is recommended for the Ares-I as well as other launch vehicles in the event of no active roll control. Finally, the method derived to stabilize a large flexible launch vehicle in the event of uncontrolled roll drift is generalized as a modified attitude quaternion feedback law. It is used to stabilize an axisymmetric rigid body by two independent control torques.

Control-system techniques for improved departure/spin resistance for fighter aircraft

NASA Technical Reports Server (NTRS)

Nguyen, L. T.; Gilbert, W. P.; Ogburn, M. E.

1980-01-01

Some fundamental information on control system effects on controllability of highly maneuverable aircraft at high angles of attack are summarized as well as techniques for enhancing fighter aircraft departure/spin resistance using control system design. The discussion includes: (1) a brief review of pertinent high angle of attack phenomena including aerodynamics, inertia coupling, and kinematic coupling; (2) effects of conventional stability augmentation systems at high angles of attack; (3) high angle of attack control system concepts designed to enhance departure/spin resistance; and (4) the outlook for applications of these concepts to future fighters, particularly those designs which incorporate relaxed static stability.

A digital frequency stabilization system of external cavity diode laser based on LabVIEW FPGA

NASA Astrophysics Data System (ADS)

Liu, Zhuohuan; Hu, Zhaohui; Qi, Lu; Wang, Tao

2015-10-01

Frequency stabilization for external cavity diode laser has played an important role in physics research. Many laser frequency locking solutions have been proposed by researchers. Traditionally, the locking process was accomplished by analog system, which has fast feedback control response speed. However, analog system is susceptible to the effects of environment. In order to improve the automation level and reliability of the frequency stabilization system, we take a grating-feedback external cavity diode laser as the laser source and set up a digital frequency stabilization system based on National Instrument's FPGA (NI FPGA). The system consists of a saturated absorption frequency stabilization of beam path, a differential photoelectric detector, a NI FPGA board and a host computer. Many functions, such as piezoelectric transducer (PZT) sweeping, atomic saturation absorption signal acquisition, signal peak identification, error signal obtaining and laser PZT voltage feedback controlling, are totally completed by LabVIEW FPGA program. Compared with the analog system, the system built by the logic gate circuits, performs stable and reliable. User interface programmed by LabVIEW is friendly. Besides, benefited from the characteristics of reconfiguration, the LabVIEW program is good at transplanting in other NI FPGA boards. Most of all, the system periodically checks the error signal. Once the abnormal error signal is detected, FPGA will restart frequency stabilization process without manual control. Through detecting the fluctuation of error signal of the atomic saturation absorption spectrum line in the frequency locking state, we can infer that the laser frequency stability can reach 1MHz.

76 FR 49532 - Federal Motor Vehicle Safety Standards; Electronic Stability Control; Technical Report on the...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-10

... Effectiveness of Electronic Stability Control Systems for Cars and LTVs AGENCY: National Highway Traffic Safety... effectiveness of electronic stability control (ESC) for passenger cars and LTVs (light trucks and vans). Safety... probability that a vehicle would be involved in a fatal crash. For passenger cars, the reductions are 5...

Transient stability enhancement of electric power generating systems by 120-degree phase rotation

DOEpatents

Cresap, Richard L.; Taylor, Carson W.; Kreipe, Michael J.

1982-01-01

A method and system for enhancing the transient stability of an intertied three-phase electric power generating system. A set of power exporting generators (10) is connected to a set of power importing generators (20). When a transient cannot be controlled by conventional stability controls, and imminent loss of synchronism is detected (such as when the equivalent rotor angle difference between the two generator sets exceeds a predetermined value, such as 150 degrees), the intertie is disconnected by circuit breakers. Then a switch (30) having a 120-degree phase rotation, or a circuit breaker having a 120-degree phase rotation is placed in the intertie. The intertie is then reconnected. This results in a 120-degree reduction in the equivalent rotor angle difference between the two generator sets, making the system more stable and allowing more time for the conventional controls to stabilize the transient.

Bounded Linear Stability Analysis - A Time Delay Margin Estimation Approach for Adaptive Control

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Ishihara, Abraham K.; Krishnakumar, Kalmanje Srinlvas; Bakhtiari-Nejad, Maryam

2009-01-01

This paper presents a method for estimating time delay margin for model-reference adaptive control of systems with almost linear structured uncertainty. The bounded linear stability analysis method seeks to represent the conventional model-reference adaptive law by a locally bounded linear approximation within a small time window using the comparison lemma. The locally bounded linear approximation of the combined adaptive system is cast in a form of an input-time-delay differential equation over a small time window. The time delay margin of this system represents a local stability measure and is computed analytically by a matrix measure method, which provides a simple analytical technique for estimating an upper bound of time delay margin. Based on simulation results for a scalar model-reference adaptive control system, both the bounded linear stability method and the matrix measure method are seen to provide a reasonably accurate and yet not too conservative time delay margin estimation.

Vehicle dynamics control by using a three-dimensional stabilizer pendulum system

NASA Astrophysics Data System (ADS)

Goodarzi, A.; Naghibian, M.; Choodan, D.; Khajepour, A.

2016-12-01

Active safety systems of a vehicle normally work well on tyre-road interactions, however, these systems deteriorate in performance on low-friction road conditions. To combat this effect, an innovative idea for the yaw moment and roll dynamic control is presented in this paper. This idea was inspired by the chase and run dynamics animals like cheetahs in the nature; cheetahs have the ability to swerve while running at very high speeds. A cheetah controls its dynamics by rotating its long tail. A three-dimensional stabilizer pendulum system (3D-SPS) resembles the rotational motion of the tail of a cheetah to improve the stability and safety of a vehicle. The idea has been developed in a stand-alone 3D stabilizer pendulum system as well as in an integrated control system, which consists of an ordinary differential braking direct yaw control (DYC) and active steering control that is assisted by the 3D-SPS. The performance of the proposed 3D-SPS has been evaluated over a wide range of handling manoeuvres by using a comprehensive numerical simulation. The results show the advantage of 3D-SPS over conventional control approaches, which are ineffective on low-friction road conditions and high lateral acceleration manoeuvres. It should however be noted that the best vehicle dynamics performance is obtained when an integrated 3D-SPS and DYC and AFS is utilised.

Verifiable Adaptive Control with Analytical Stability Margins by Optimal Control Modification

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2010-01-01

This paper presents a verifiable model-reference adaptive control method based on an optimal control formulation for linear uncertain systems. A predictor model is formulated to enable a parameter estimation of the system parametric uncertainty. The adaptation is based on both the tracking error and predictor error. Using a singular perturbation argument, it can be shown that the closed-loop system tends to a linear time invariant model asymptotically under an assumption of fast adaptation. A stability margin analysis is given to estimate a lower bound of the time delay margin using a matrix measure method. Using this analytical method, the free design parameter n of the optimal control modification adaptive law can be determined to meet a specification of stability margin for verification purposes.

Stabilisation of discrete-time polynomial fuzzy systems via a polynomial lyapunov approach

NASA Astrophysics Data System (ADS)

Nasiri, Alireza; Nguang, Sing Kiong; Swain, Akshya; Almakhles, Dhafer

2018-02-01

This paper deals with the problem of designing a controller for a class of discrete-time nonlinear systems which is represented by discrete-time polynomial fuzzy model. Most of the existing control design methods for discrete-time fuzzy polynomial systems cannot guarantee their Lyapunov function to be a radially unbounded polynomial function, hence the global stability cannot be assured. The proposed control design in this paper guarantees a radially unbounded polynomial Lyapunov functions which ensures global stability. In the proposed design, state feedback structure is considered and non-convexity problem is solved by incorporating an integrator into the controller. Sufficient conditions of stability are derived in terms of polynomial matrix inequalities which are solved via SOSTOOLS in MATLAB. A numerical example is presented to illustrate the effectiveness of the proposed controller.

Predictive Control of Networked Multiagent Systems via Cloud Computing.

PubMed

Liu, Guo-Ping

2017-01-18

This paper studies the design and analysis of networked multiagent predictive control systems via cloud computing. A cloud predictive control scheme for networked multiagent systems (NMASs) is proposed to achieve consensus and stability simultaneously and to compensate for network delays actively. The design of the cloud predictive controller for NMASs is detailed. The analysis of the cloud predictive control scheme gives the necessary and sufficient conditions of stability and consensus of closed-loop networked multiagent control systems. The proposed scheme is verified to characterize the dynamical behavior and control performance of NMASs through simulations. The outcome provides a foundation for the development of cooperative and coordinative control of NMASs and its applications.

Active buckling control of a beam-column with circular cross-section using piezo-elastic supports and integral LQR control

NASA Astrophysics Data System (ADS)

Schaeffner, Maximilian; Götz, Benedict; Platz, Roland

2016-06-01

Buckling of slender beam-columns subject to axial compressive loads represents a critical design constraint for light-weight structures. Active buckling control provides a possibility to stabilize slender beam-columns by active lateral forces or bending moments. In this paper, the potential of active buckling control of an axially loaded beam-column with circular solid cross-section by piezo-elastic supports is investigated experimentally. In the piezo-elastic supports, lateral forces of piezoelectric stack actuators are transformed into bending moments acting in arbitrary directions at the beam-column ends. A mathematical model of the axially loaded beam-column is derived to design an integral linear quadratic regulator (LQR) that stabilizes the system. The effectiveness of the stabilization concept is investigated in an experimental test setup and compared with the uncontrolled system. With the proposed active buckling control it is possible to stabilize the beam-column in arbitrary lateral direction for axial loads up to the theoretical critical buckling load of the system.

Designing of new structure PID controller of boost converter for solar photovoltaic stability

NASA Astrophysics Data System (ADS)

Shabrina, Hanifati Nur; Setiawan, Eko Adhi; Sabirin, Chip Rinaldi

2017-03-01

Nowadays, the utilization of renewable energy as the source on distributed generation system is increasing. It aims to reduce reliance and power losses from utility grid and improve power stability in near loads. One example of renewable energy technology that have been highly proven on the market is solar photovoltaic (PV). This technology converts photon from sunlight into electricity. However, the fluctuation of solar radiation that often occurs become the main problem for this system. Due to this condition, the power conversion is needed to convert the change frequently in photovoltaic panel into a stable voltage to the system. Developing control of boost converter has important role to keep ability of system stabilization. A conventional PID (Proportional, Integral, Derivative) control is mostly used to achieve this goal. In this research, a design of new structure PID controller of boost converter is offered to better optimize system stability comparing to the conventional PID. Parameters obtained from this PID structure have been successfully yield a stable boost converter output at 200 V with 10% overshoot, 1.5 seconds of settling time, and 1.5% of steady-state error.

Digital control of the Kuiper Airborne Observatory telescope

NASA Technical Reports Server (NTRS)

Mccormack, Ann C.; Snyder, Philip K.

1989-01-01

The feasibility of using a digital controller to stabilize a telescope mounted in an airplane is investigated. The telescope is a 30 in. infrared telescope mounted aboard a NASA C-141 aircraft known as the Kuiper Airborne Observatory. Current efforts to refurbish the 14-year-old compensation system have led to considering a digital controller. A typical digital controller is modeled and added into the telescope system model. This model is simulated on a computer to generate the Bode plots and time responses which determine system stability and performance parameters. Important aspects of digital control system hardware are discussed. A summary of the findings shows that a digital control system would result in satisfactory telescope performance.

Evolving Systems: An Outcome of Fondest Hopes and Wildest Dreams

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Balas, Mark J.

2012-01-01

New theory is presented for evolving systems, which are autonomously controlled subsystems that self-assemble into a new evolved system with a higher purpose. Evolving systems of aerospace structures often require additional control when assembling to maintain stability during the entire evolution process. This is the concept of Adaptive Key Component Control that operates through one specific component to maintain stability during the evolution. In addition, this control must often overcome persistent disturbances that occur while the evolution is in progress. Theoretical results will be presented for Adaptive Key Component control for persistent disturbance rejection. An illustrative example will demonstrate the Adaptive Key Component controller on a system composed of rigid body and flexible body modes.

Active stabilization to prevent surge in centrifugal compression systems

NASA Technical Reports Server (NTRS)

Epstein, Alan H.; Greitzer, Edward M.; Simon, Jon S.; Valavani, Lena

1993-01-01

This report documents an experimental and analytical study of the active stabilization of surge in a centrifugal engine. The aims of the research were to extend the operating range of a compressor as far as possible and to establish the theoretical framework for the active stabilization of surge from both an aerodynamic stability and a control theoretic perspective. In particular, much attention was paid to understanding the physical limitations of active stabilization and how they are influenced by control system design parameters. Previously developed linear models of actively stabilized compressors were extended to include such nonlinear phenomena as bounded actuation, bandwidth limits, and robustness criteria. This model was then used to systematically quantify the influence of sensor-actuator selection on system performance. Five different actuation schemes were considered along with four different sensors. Sensor-actuator choice was shown to have a profound effect on the performance of the stabilized compressor. The optimum choice was not unique, but rather shown to be a strong function of some of the non-dimensional parameters which characterize the compression system dynamics. Specifically, the utility of the concepts were shown to depend on the system compliance to inertia ratio ('B' parameter) and the local slope of the compressor speedline. In general, the most effective arrangements are ones in which the actuator is most closely coupled to the compressor, such as a close-coupled bleed valve inlet jet, rather than elsewhere in the flow train, such as a fuel flow modulator. The analytical model was used to explore the influence of control system bandwidth on control effectiveness. The relevant reference frequency was shown to be the compression system's Helmholtz frequency rather than the surge frequency. The analysis shows that control bandwidths of three to ten times the Helmholtz frequency are required for larger increases in the compressor flow range. This has important implications for implementation in gas turbine engines since the Helmholtz frequencies can be over 100 Hz, making actuator design extremely challenging.

Intervention criterion and control research for active front steering with consideration of road adhesion

NASA Astrophysics Data System (ADS)

Wu, Xiaojian; Zhou, Bing; Wen, Guilin; Long, Lefei; Cui, Qingjia

2018-04-01

A multi-objective active front steering (AFS) control system considering the road adhesion constraint on vehicle stability is developed using the sliding mode control (SMC) method. First, an identification function combined with the relationship between the yaw rate and the steering angle is developed to determine whether the tyre state is linear or nonlinear. On this basis, an intervention criterion for the AFS system is proposed to improve vehicle handling and stability in emergent conditions. A sideslip angle stability domain enveloped by the upper, lower, left, and right boundaries, as well as the constraint of road adhesion coefficient, is constructed based on the ? phase-plane method. A dynamic weighting coefficient to coordinate the control of yaw rate and sideslip angle, and a control strategy that considers changing control objectives based on the desired yaw rate, the desired sideslip angle, and their proportional weights, are proposed for the SMC controller. Because road adhesion has a significant effect on vehicle stability and to meet the control algorithm's requirement of real-time access to vehicle states, a unscented Kalman filter-based state observer is proposed to estimate the adhesion coefficient and the required states. Finally, simulations are performed using high and low road adhesion conditions in a Matlab/Simulink environment, and the results show that the proposed AFS control system promptly intervenes according to the intervention criterion, effectively improving vehicle handling and stability.

Dynamic response of a Mach 2.5 axisymmetric inlet and turbojet engine with a poppet-value controlled inlet stability bypass system when subjected to internal and external airflow transients

NASA Technical Reports Server (NTRS)

Sanders, B. W.

1980-01-01

The throat of a Mach 2.5 inlet that was attached to a turbojet engine was fitted with a poppet-valve-controlled stability bypass system that was designed to provide a large, stable airflow range. Propulsion system response and stability bypass performance were determined for several transient airflow disturbances, both internal and external. Internal airflow disturbances included reductions in overboard bypass airflow, power lever angle, and primary-nozzle area as well as compressor stall. For reference, data are also included for a conventional, fixed-exit bleed system. The poppet valves greatly increased inlet stability and had no adverse effects on propulsion system performance. Limited unstarted-inlet bleed performance data are presented.

H∞ control problem of linear periodic piecewise time-delay systems

NASA Astrophysics Data System (ADS)

Xie, Xiaochen; Lam, James; Li, Panshuo

2018-04-01

This paper investigates the H∞ control problem based on exponential stability and weighted L2-gain analyses for a class of continuous-time linear periodic piecewise systems with time delay. A periodic piecewise Lyapunov-Krasovskii functional is developed by integrating a discontinuous time-varying matrix function with two global terms. By applying the improved constraints to the stability and L2-gain analyses, sufficient delay-dependent exponential stability and weighted L2-gain criteria are proposed for the periodic piecewise time-delay system. Based on these analyses, an H∞ control scheme is designed under the considerations of periodic state feedback control input and iterative optimisation. Finally, numerical examples are presented to illustrate the effectiveness of our proposed conditions.

Enhancing synchronization stability in a multi-area power grid

PubMed Central

Wang, Bing; Suzuki, Hideyuki; Aihara, Kazuyuki

2016-01-01

Maintaining a synchronous state of generators is of central importance to the normal operation of power grids, in which many networks are generally interconnected. In order to understand the condition under which the stability can be optimized, it is important to relate network stability with feedback control strategies as well as network structure. Here, we present a stability analysis on a multi-area power grid by relating it with several control strategies and topological design of network structure. We clarify the minimal feedback gain in the self-feedback control, and build the optimal communication network for the local and global control strategies. Finally, we consider relationship between the interconnection pattern and the synchronization stability; by optimizing the network interlinks, the obtained network shows better synchronization stability than the original network does, in particular, at a high power demand. Our analysis shows that interlinks between spatially distant nodes will improve the synchronization stability. The results seem unfeasible to be implemented in real systems but provide a potential guide for the design of stable power systems. PMID:27225708

Fixed-time stabilization of impulsive Cohen-Grossberg BAM neural networks.

PubMed

Li, Hongfei; Li, Chuandong; Huang, Tingwen; Zhang, Wanli

2018-02-01

This article is concerned with the fixed-time stabilization for impulsive Cohen-Grossberg BAM neural networks via two different controllers. By using a novel constructive approach based on some comparison techniques for differential inequalities, an improvement theorem of fixed-time stability for impulsive dynamical systems is established. In addition, based on the fixed-time stability theorem of impulsive dynamical systems, two different control protocols are designed to ensure the fixed-time stabilization of impulsive Cohen-Grossberg BAM neural networks, which include and extend the earlier works. Finally, two simulations examples are provided to illustrate the validity of the proposed theoretical results. Copyright © 2017 Elsevier Ltd. All rights reserved.

Learning and Understanding System Stability Using Illustrative Dynamic Texture Examples

ERIC Educational Resources Information Center

Liu, Huaping; Xiao, Wei; Zhao, Hongyan; Sun, Fuchun

2014-01-01

System stability is a basic concept in courses on dynamic system analysis and control for undergraduate students with computer science backgrounds. Typically, this was taught using a simple simulation example of an inverted pendulum. Unfortunately, many difficult issues arise in the learning and understanding of the concepts of stability,…

A general program to compute the multivariable stability margin for systems with parametric uncertainty

NASA Technical Reports Server (NTRS)

Sanchez Pena, Ricardo S.; Sideris, Athanasios

1988-01-01

A computer program implementing an algorithm for computing the multivariable stability margin to check the robust stability of feedback systems with real parametric uncertainty is proposed. The authors present in some detail important aspects of the program. An example is presented using lateral directional control system.

Fiber optically isolated and remotely stabilized data transmission system

DOEpatents

Nelson, Melvin A.

1992-01-01

A fiber optically isolated and remotely stabilized data transmission system s described wherein optical data may be transmitted over an optical data fiber from a remote source which includes a data transmitter and a power supply at the remote source. The transmitter may be remotely calibrated and stabilized via an optical control fiber, and the power source may be remotely cycled between duty and standby modes via an optical control fiber.

Fiber optically isolated and remotely stabilized data transmission system

DOEpatents

Nelson, M.A.

1992-11-10

A fiber optically isolated and remotely stabilized data transmission systems described wherein optical data may be transmitted over an optical data fiber from a remote source which includes a data transmitter and a power supply at the remote source. The transmitter may be remotely calibrated and stabilized via an optical control fiber, and the power source may be remotely cycled between duty and standby modes via an optical control fiber. 3 figs.

Intelligent vehicle safety control strategy in various driving situations

NASA Astrophysics Data System (ADS)

Moon, Seungwuk; Cho, Wanki; Yi, Kyongsu

2010-12-01

This paper describes a safety control strategy for intelligent vehicles with the objective of optimally coordinating the throttle, brake, and active front steering actuator inputs to obtain both lateral stability and longitudinal safety. The control system consists of a supervisor, control algorithms, and a coordinator. From the measurement and estimation signals, the supervisor determines the active control modes among normal driving, longitudinal safety, lateral stability, and integrated safety control mode. The control algorithms consist of longitudinal and lateral stability controllers. The longitudinal controller is designed to improve the driver's comfort during normal, safe-driving situations, and to avoid rear-end collision in vehicle-following situations. The lateral stability controller is designed to obtain the required manoeuvrability and to limit the vehicle body's side-slip angle. To obtain both longitudinal safety and lateral stability control in various driving situations, the coordinator optimally determines the throttle, brake, and active front steering inputs based on the current status of the subject vehicle. Closed-loop simulations with the driver-vehicle-controller system are conducted to investigate the performance of the proposed control strategy. From these simulation results, it is shown that the proposed control algorithm assists the driver in combined severe braking/large steering manoeuvring so that the driver can maintain good manoeuvrability and prevent the vehicle from crashing in vehicle-following situations.

Adaptive Fuzzy Output Feedback Control for Switched Nonlinear Systems With Unmodeled Dynamics.

PubMed

Tong, Shaocheng; Li, Yongming

2017-02-01

This paper investigates a robust adaptive fuzzy control stabilization problem for a class of uncertain nonlinear systems with arbitrary switching signals that use an observer-based output feedback scheme. The considered switched nonlinear systems possess the unstructured uncertainties, unmodeled dynamics, and without requiring the states being available for measurement. A state observer which is independent of switching signals is designed to solve the problem of unmeasured states. Fuzzy logic systems are used to identify unknown lumped nonlinear functions so that the problem of unstructured uncertainties can be solved. By combining adaptive backstepping design principle and small-gain approach, a novel robust adaptive fuzzy output feedback stabilization control approach is developed. The stability of the closed-loop system is proved via the common Lyapunov function theory and small-gain theorem. Finally, the simulation results are given to demonstrate the validity and performance of the proposed control strategy.

Controller certification: The generalized stability margin inference for a large number of MIMO controllers

NASA Astrophysics Data System (ADS)

Park, Jisang

In this dissertation, we investigate MIMO stability margin inference of a large number of controllers using pre-established stability margins of a small number of nu-gap-wise adjacent controllers. The generalized stability margin and the nu-gap metric are inherently able to handle MIMO system analysis without the necessity of repeating multiple channel-by-channel SISO analyses. This research consists of three parts: (i) development of a decision support tool for inference of the stability margin, (ii) computational considerations for yielding the maximal stability margin with the minimal nu-gap metric in a less conservative manner, and (iii) experiment design for estimating the generalized stability margin with an assured error bound. A modern problem from aerospace control involves the certification of a large set of potential controllers with either a single plant or a fleet of potential plant systems, with both plants and controllers being MIMO and, for the moment, linear. Experiments on a limited number of controller/plant pairs should establish the stability and a certain level of margin of the complete set. We consider this certification problem for a set of controllers and provide algorithms for selecting an efficient subset for testing. This is done for a finite set of candidate controllers and, at least for SISO plants, for an infinite set. In doing this, the nu-gap metric will be the main tool. We provide a theorem restricting a radius of a ball in the parameter space so that the controller can guarantee a prescribed level of stability and performance if parameters of the controllers are contained in the ball. Computational examples are given, including one of certification of an aircraft engine controller. The overarching aim is to introduce truly MIMO margin calculations and to understand their efficacy in certifying stability over a set of controllers and in replacing legacy single-loop gain and phase margin calculations. We consider methods for the computation of; maximal MIMO stability margins bP̂,C, minimal nu-gap metrics deltanu , and the maximal difference between these two values, through the use of scaling and weighting functions. We propose simultaneous scaling selections that attempt to maximize the generalized stability margin and minimize the nu-gap. The minimization of the nu-gap by scaling involves a non-convex optimization. We modify the XY-centering algorithm to handle this non-convexity. This is done for applications in controller certification. Estimating the generalized stability margin with an accurate error bound has significant impact on controller certification. We analyze an error bound of the generalized stability margin as the infinity norm of the MIMO empirical transfer function estimate (ETFE). Input signal design to reduce the error on the estimate is also studied. We suggest running the system for a certain amount of time prior to recording of each output data set. The assured upper bound of estimation error can be tuned by the amount of the pre-experiment.

A digital computer program for the dynamic interaction simulation of controls and structure (DISCOS), volume 1

NASA Technical Reports Server (NTRS)

Bodley, C. S.; Devers, A. D.; Park, A. C.; Frisch, H. P.

1978-01-01

A theoretical development and associated digital computer program system for the dynamic simulation and stability analysis of passive and actively controlled spacecraft are presented. The dynamic system (spacecraft) is modeled as an assembly of rigid and/or flexible bodies not necessarily in a topological tree configuration. The computer program system is used to investigate total system dynamic characteristics, including interaction effects between rigid and/or flexible bodies, control systems, and a wide range of environmental loadings. In addition, the program system is used for designing attitude control systems and for evaluating total dynamic system performance, including time domain response and frequency domain stability analyses.

Dynamical investigation and parameter stability region analysis of a flywheel energy storage system in charging mode

NASA Astrophysics Data System (ADS)

Zhang, Wei-Ya; Li, Yong-Li; Chang, Xiao-Yong; Wang, Nan

2013-09-01

In this paper, the dynamic behavior analysis of the electromechanical coupling characteristics of a flywheel energy storage system (FESS) with a permanent magnet (PM) brushless direct-current (DC) motor (BLDCM) is studied. The Hopf bifurcation theory and nonlinear methods are used to investigate the generation process and mechanism of the coupled dynamic behavior for the average current controlled FESS in the charging mode. First, the universal nonlinear dynamic model of the FESS based on the BLDCM is derived. Then, for a 0.01 kWh/1.6 kW FESS platform in the Key Laboratory of the Smart Grid at Tianjin University, the phase trajectory of the FESS from a stable state towards chaos is presented using numerical and stroboscopic methods, and all dynamic behaviors of the system in this process are captured. The characteristics of the low-frequency oscillation and the mechanism of the Hopf bifurcation are investigated based on the Routh stability criterion and nonlinear dynamic theory. It is shown that the Hopf bifurcation is directly due to the loss of control over the inductor current, which is caused by the system control parameters exceeding certain ranges. This coupling nonlinear process of the FESS affects the stability of the motor running and the efficiency of energy transfer. In this paper, we investigate into the effects of control parameter change on the stability and the stability regions of these parameters based on the averaged-model approach. Furthermore, the effect of the quantization error in the digital control system is considered to modify the stability regions of the control parameters. Finally, these theoretical results are verified through platform experiments.

Design of Distributed Engine Control Systems with Uncertain Delay.

PubMed

Liu, Xiaofeng; Li, Yanxi; Sun, Xu

Future gas turbine engine control systems will be based on distributed architecture, in which, the sensors and actuators will be connected to the controllers via a communication network. The performance of the distributed engine control (DEC) is dependent on the network performance. This study introduces a distributed control system architecture based on a networked cascade control system (NCCS). Typical turboshaft engine-distributed controllers are designed based on the NCCS framework with a H∞ output feedback under network-induced time delays and uncertain disturbances. The sufficient conditions for robust stability are derived via the Lyapunov stability theory and linear matrix inequality approach. Both numerical and hardware-in-loop simulations illustrate the effectiveness of the presented method.

Design of Distributed Engine Control Systems with Uncertain Delay

PubMed Central

Li, Yanxi; Sun, Xu

2016-01-01

Future gas turbine engine control systems will be based on distributed architecture, in which, the sensors and actuators will be connected to the controllers via a communication network. The performance of the distributed engine control (DEC) is dependent on the network performance. This study introduces a distributed control system architecture based on a networked cascade control system (NCCS). Typical turboshaft engine-distributed controllers are designed based on the NCCS framework with a H∞ output feedback under network-induced time delays and uncertain disturbances. The sufficient conditions for robust stability are derived via the Lyapunov stability theory and linear matrix inequality approach. Both numerical and hardware-in-loop simulations illustrate the effectiveness of the presented method. PMID:27669005

Neural-network-based online HJB solution for optimal robust guaranteed cost control of continuous-time uncertain nonlinear systems.

PubMed

Liu, Derong; Wang, Ding; Wang, Fei-Yue; Li, Hongliang; Yang, Xiong

2014-12-01

In this paper, the infinite horizon optimal robust guaranteed cost control of continuous-time uncertain nonlinear systems is investigated using neural-network-based online solution of Hamilton-Jacobi-Bellman (HJB) equation. By establishing an appropriate bounded function and defining a modified cost function, the optimal robust guaranteed cost control problem is transformed into an optimal control problem. It can be observed that the optimal cost function of the nominal system is nothing but the optimal guaranteed cost of the original uncertain system. A critic neural network is constructed to facilitate the solution of the modified HJB equation corresponding to the nominal system. More importantly, an additional stabilizing term is introduced for helping to verify the stability, which reinforces the updating process of the weight vector and reduces the requirement of an initial stabilizing control. The uniform ultimate boundedness of the closed-loop system is analyzed by using the Lyapunov approach as well. Two simulation examples are provided to verify the effectiveness of the present control approach.

Stability Properties and Cross Coupling Performance of the Control Allocation Scheme CAPIO

NASA Technical Reports Server (NTRS)

Yildiz, Yildiray; Kolmanovsky, Ilya V.

2010-01-01

This paper presents a stability analysis and an application of a recently developed Control Allocator for recovery from Pilot Induced Oscillations (CAPIO). When actuators are rate-saturated due to either aggressive pilot commands, high gain ight control systems or some anomaly in the system, the effective delay in the control loop may increase. This effective delay increase manifests itself as a phase shift between the commanded and actual system signals and can instigate Pilot induced Oscillations (PIO). CAPIO reduces the e ective time delay by minimizing the phase shift between the commanded and the actual attitude accelerations. We present a stability analysis of CAPIO for a scalar system. In addition, we present simulation results for aircraft with cross-coupling which demonstrates the potential of CAPIO serving as an effective PIO handler in adverse conditions.

Direct carrier-envelope phase control of an amplified laser system.

PubMed

Balčiūnas, Tadas; Flöry, Tobias; Baltuška, Andrius; Stanislauskas, Tomas; Antipenkov, Roman; Varanavičius, Arūnas; Steinmeyer, Günter

2014-03-15

Direct carrier-envelope phase stabilization of an Yb:KGW MOPA laser system is demonstrated with a residual phase jitter reduced to below 100 mrad, which compares favorably with previous stabilization reports, both of amplified laser systems as well as of ytterbium-based oscillators. This novel stabilization scheme relies on a frequency synthesis scheme and a feed-forward approach. The direct stabilization of a sub-MHz frequency comb from a CPA amplifier not only reduces the phase noise but also greatly simplifies the stabilization setup.

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

NASA Astrophysics Data System (ADS)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Dynamic Processes in Regulation and Some Implications for Biofeedback and Biobehavioral Interventions

PubMed Central

Lehrer, Paul; Eddie, David

2013-01-01

Systems theory has long been applied in psychology, biology, and sociology. This paper applies newer methods of control systems modeling to the assessment of system stability in health and disease. Control systems can be characterized as open or closed systems with feedback loops. Feedback produces oscillatory activity, and the complexity of naturally occurring oscillatory patterns reflects the multiplicity of feedback mechanisms, such that many mechanisms operate simultaneously to control the system. Unstable systems, often associated with poor health, are characterized by absence of oscillation, random noise, or a very simple pattern of oscillation. This modeling approach can be applied to a diverse range of phenomena, including cardiovascular and brain activity, mood and thermal regulation, and social system stability. External system stressors such as disease, psychological stress, injury, or interpersonal conflict may perturb a system, yet simultaneously stimulate oscillatory processes and exercise control mechanisms. Resonance can occur in systems with negative feedback loops, causing high-amplitude oscillations at a single frequency. Resonance effects can be used to strengthen modulatory oscillations, but may obscure other information and control mechanisms, and weaken system stability. Positive as well as negative feedback loops are important for system function and stability. Examples are presented of oscillatory processes in heart rate variability, and regulation of autonomic, thermal, pancreatic and central nervous system processes, as well as in social/organizational systems such as marriages and business organizations. Resonance in negative feedback loops can help stimulate oscillations and exercise control reflexes, but also can deprive the system of important information. Empirical hypotheses derived from this approach are presented, including that moderate stress may enhance health and functioning. PMID:23572244

Current Methods for Modeling and Simulating Icing Effects on Aircraft Performance, Stability and Control

NASA Technical Reports Server (NTRS)

Ralvasky, Thomas P.; Barnhart, Billy P.; Lee, Sam

2008-01-01

Icing alters the shape and surface characteristics of aircraft components, which results in altered aerodynamic forces and moments caused by air flow over those iced components. The typical effects of icing are increased drag, reduced stall angle of attack, and reduced maximum lift. In addition to the performance changes, icing can also affect control surface effectiveness, hinge moments, and damping. These effects result in altered aircraft stability and control and flying qualities. Over the past 80 years, methods have been developed to understand how icing affects performance, stability and control. Emphasis has been on wind tunnel testing of two-dimensional subscale airfoils with various ice shapes to understand their effect on the flow field and ultimately the aerodynamics. This research has led to wind tunnel testing of subscale complete aircraft models to identify the integrated effects of icing on the aircraft system in terms of performance, stability, and control. Data sets of this nature enable pilot in the loop simulations to be performed for pilot training, or engineering evaluation of system failure impacts or control system design.

Current Methods Modeling and Simulating Icing Effects on Aircraft Performance, Stability, Control

NASA Technical Reports Server (NTRS)

Ratvasky, Thomas P.; Barnhart, Billy P.; Lee, Sam

2010-01-01

Icing alters the shape and surface characteristics of aircraft components, which results in altered aerodynamic forces and moments caused by air flow over those iced components. The typical effects of icing are increased drag, reduced stall angle of attack, and reduced maximum lift. In addition to the performance changes, icing can also affect control surface effectiveness, hinge moments, and damping. These effects result in altered aircraft stability and control and flying qualities. Over the past 80 years, methods have been developed to understand how icing affects performance, stability, and control. Emphasis has been on wind-tunnel testing of two-dimensional subscale airfoils with various ice shapes to understand their effect on the flowfield and ultimately the aerodynamics. This research has led to wind-tunnel testing of subscale complete aircraft models to identify the integrated effects of icing on the aircraft system in terms of performance, stability, and control. Data sets of this nature enable pilot-in-the-loop simulations to be performed for pilot training or engineering evaluation of system failure impacts or control system design.

Broad control of disulfide stability through microenvironmental effects and analysis in complex redox environments.

PubMed

Wu, Chuanliu; Wang, Shuo; Brülisauer, Lorine; Leroux, Jean-Christophe; Gauthier, Marc A

2013-07-08

Disulfide bonds stabilize the tertiary- and quaternary structure of proteins. In addition, they can be used to engineer redox-sensitive (bio)materials and drug-delivery systems. Many of these applications require control of the stability of the disulfide bond. It has recently been shown that the charged microenvironment of the disulfide can be used to alter their stability by ∼3 orders of magnitude in a predictable and finely tunable manner at acidic pH. The aim of this work is to extend these findings to physiological pH and to demonstrate the validity of this approach in complex redox milieu. Disulfide microenvironments were manipulated synergistically with steric hindrance herein to control disulfide bond stability over ∼3 orders of magnitude at neutral pH. Control of disulfide stability through microenvironmental effects could also be observed in complex redox buffers (including serum) and in the presence of cells. Such fine and predictable control of disulfide properties is not achievable using other existing approaches. These findings provide easily implementable and general tools for controlling the responsiveness of biomaterials and drug delivery systems toward various local endogenous redox environments.

Investigation of longitudinal control system for a small hydrofoil boat

NASA Technical Reports Server (NTRS)

Phillips, W. H.; Shaughnessy, J. D.

1976-01-01

An analysis of a hydromechanical system for longitudinal control of a small hydrofoil boat is presented. The system incorporates height and acceleration sensors operating flaps on the foils through a mechanical linkage. Effects of some of the system parameters on the stability and response to waves are shown. The results indicate that the system is capable of providing adequate stability, but the response to stern waves at low frequencies is larger than desired.

A Theoretical Solid Oxide Fuel Cell Model for Systems Controls and Stability Design

NASA Technical Reports Server (NTRS)

Kopasakis, George; Brinson, Thomas; Credle, Sydni

2008-01-01

As the aviation industry moves toward higher efficiency electrical power generation, all electric aircraft, or zero emissions and more quiet aircraft, fuel cells are sought as the technology that can deliver on these high expectations. The hybrid solid oxide fuel cell system combines the fuel cell with a micro-turbine to obtain up to 70% cycle efficiency, and then distributes the electrical power to the loads via a power distribution system. The challenge is to understand the dynamics of this complex multidiscipline system and the design distributed controls that take the system through its operating conditions in a stable and safe manner while maintaining the system performance. This particular system is a power generation and a distribution system, and the fuel cell and micro-turbine model fidelity should be compatible with the dynamics of the power distribution system in order to allow proper stability and distributed controls design. The novelty in this paper is that, first, the case is made why a high fidelity fuel cell mode is needed for systems control and stability designs. Second, a novel modeling approach is proposed for the fuel cell that will allow the fuel cell and the power system to be integrated and designed for stability, distributed controls, and other interface specifications. This investigation shows that for the fuel cell, the voltage characteristic should be modeled but in addition, conservation equation dynamics, ion diffusion, charge transfer kinetics, and the electron flow inherent impedance should also be included.

A comparative study of stabilizing control of a planer electromagnetic levitation using PID and LQR controllers

NASA Astrophysics Data System (ADS)

Yaseen, Mundher H. A.

Magnetic levitation is a technique to suspend an object without any mechanical support. The main objective of this study is to demonstrate stabilized closed loop control of 1-DOF Maglev experimentally using real-time control simulink feature of (SIMLAB) microcontroller. Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) controllers are employed to examine the stability performance of the Maglev control system under effect of unbalanced change of load and wave signal on Maglev plane. The effect of unbalanced change of applied load on single point, line and plane are presented. Furthermore, in order to study the effect of sudden change in input signal, the input of wave signal has been applied on all points of the prototype maglev plate simultaneously. The results of pulse width modulation (PWM) reveal that the control system using LQR controller provides faster response to adjust the levitated plane comparing to PID controller. Moreover, the air gap distance that controlled using PID controller is rather stable with little oscillation. Meanwhile, LQR controller provided more stability and homogeneous response.

Measured performance of the GTA rf systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Denney, P.M.; Jachim, S.P.

1993-06-01

This paper describes the performance of the RF systems on the Ground Test Accelerator (GTA). The RF system architecture is briefly described. Among the RF performance results presented are RF field flatness and stability, amplitude and phase control resolution, and control system bandwidth and stability. The rejection by the RF systems of beam-induced disturbances, such as transients and noise, are analyzed. The observed responses are also compared to computer-based simulations of the RF systems for validation.

Measured performance of the GTA rf systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Denney, P.M.; Jachim, S.P.

1993-01-01

This paper describes the performance of the RF systems on the Ground Test Accelerator (GTA). The RF system architecture is briefly described. Among the RF performance results presented are RF field flatness and stability, amplitude and phase control resolution, and control system bandwidth and stability. The rejection by the RF systems of beam-induced disturbances, such as transients and noise, are analyzed. The observed responses are also compared to computer-based simulations of the RF systems for validation.

Theoretical and Analog Studies of the Effects of Nonlinear Stability Derivatives on the Longitudinal Motions of an Aircraft in Response to Step Control Deflections and to the Influence of Proportional Automatic Control

NASA Technical Reports Server (NTRS)

Curfman, Howard J , Jr

1955-01-01

Through theoretical and analog results the effects of two nonlinear stability derivatives on the longitudinal motions of an aircraft have been investigated. Nonlinear functions of pitching-moment and lift coefficients with angle of attack were considered. Analog results of aircraft motions in response to step elevator deflections and to the action of the proportional control systems are presented. The occurrence of continuous hunting oscillations was predicted and demonstrated for the attitude stabilization system with proportional control for certain nonlinear pitching-moment variations and autopilot adjustments.

Effects on Longitudinal Stability and Control Characteristics of a B-29 Airplane of Variations in Stick-force and Control-rate Characteristics Obtained Through Use of a Booster in the Elevator-control System

NASA Technical Reports Server (NTRS)

Mathews, Charles W; Talmage, Donald B; Whitten, James B

1951-01-01

The longitudinal stability and control characteristics of a B-29 airplane have been measured with a control surface booster incorporated in the elevator-control system. The measurements were obtained with the booster operating to provide various control-force gradients and various maximum rates of control motion. Results are presented which show the effect of these booster parameters on the handling qualities of the test airplane.

Stabilization of exact nonlinear Timoshenko beams in space by boundary feedback

NASA Astrophysics Data System (ADS)

Do, K. D.

2018-05-01

Boundary feedback controllers are designed to stabilize Timoshenko beams with large translational and rotational motions in space under external disturbances. The exact nonlinear partial differential equations governing motion of the beams are derived and used in the control design. The designed controllers guarantee globally practically asymptotically (and locally practically exponentially) stability of the beam motions at the reference state. The control design, well-posedness and stability analysis are based on various relationships between the earth-fixed and body-fixed coordinates, Sobolev embeddings, and a Lyapunov-type theorem developed to study well-posedness and stability for a class of evolution systems in Hilbert space. Simulation results are included to illustrate the effectiveness of the proposed control design.

A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control

NASA Astrophysics Data System (ADS)

Obayashi, Masanao; Uchiyama, Shogo; Kuremoto, Takashi; Kobayashi, Kunikazu

This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H∞ control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.

Stability of model-based event-triggered control systems: a separation property

NASA Astrophysics Data System (ADS)

Hao, Fei; Yu, Hao

2017-04-01

To save resource of communication, this paper investigates the model-based event-triggered control systems. Two main problems are considered in this paper. One is, for given plant and model, to design event conditions to guarantee the stability of the systems. The other is to consider the effect of the model matrices on the stability. The results show that the closed-loop systems can be asymptotically stabilised with any model matrices in compact sets if the parameters in the event conditions are within the designed ranges. Then, a separation property of model-based event-triggered control is proposed. Namely, the design of the controller gain and the event condition can be separated from the selection of the model matrices. Based on this property, an adaption mechanism is introduced to the model-based event-triggered control systems, which can further improve the sampling performance. Finally, a numerical example is given to show the efficiency and feasibility of the developed results.

Development of a low risk augmentation system for an energy efficient transport having relaxed static stability

NASA Technical Reports Server (NTRS)

Sizlo, T. R.; Berg, R. A.; Gilles, D. L.

1979-01-01

An augmentation system for a 230 passenger, twin engine aircraft designed with a relaxation of conventional longitudinal static stability was developed. The design criteria are established and candidate augmentation system control laws and hardware architectures are formulated and evaluated with respect to reliability, flying qualities, and flight path tracking performance. The selected systems are shown to satisfy the interpreted regulatory safety and reliability requirements while maintaining the present DC 10 (study baseline) level of maintainability and reliability for the total flight control system. The impact of certification of the relaxed static stability augmentation concept is also estimated with regard to affected federal regulations, system validation plan, and typical development/installation costs.

Decentralized Control and Multicriterion Decision Making.

DTIC Science & Technology

1979-12-01

stabilizable and detectable? ’V L 42 Theorem 3.1: Existence of stabilizing solution. We assume that the system is jointly controllable R1 (0...a leader’s control that will make the system stabilizable for the follower and that in order for J to be finite the leader must choose F such1 1 that...a stabilizing solution will be developed. We restrict our attention to a formulation dealing with a linear continuous time system and in which

Transient stability enhancement of modern power grid using predictive Wide-Area Monitoring and Control

NASA Astrophysics Data System (ADS)

Yousefian, Reza

This dissertation presents a real-time Wide-Area Control (WAC) designed based on artificial intelligence for large scale modern power systems transient stability enhancement. The WAC using the measurements available from Phasor Measurement Units (PMUs) at generator buses, monitors the global oscillations in the system and optimally augments the local excitation system of the synchronous generators. The complexity of the power system stability problem along with uncertainties and nonlinearities makes the conventional modeling non-practical or inaccurate. In this work Reinforcement Learning (RL) algorithm on the benchmark of Neural Networks (NNs) is used to map the nonlinearities of the system in real-time. This method different from both the centralized and the decentralized control schemes, employs a number of semi-autonomous agents to collaborate with each other to perform optimal control theory well-suited for WAC applications. Also, to handle the delays in Wide-Area Monitoring (WAM) and adapt the RL toward the robust control design, Temporal Difference (TD) is proposed as a solver for RL problem or optimal cost function. However, the main drawback of such WAC design is that it is challenging to determine if an offline trained network is valid to assess the stability of the power system once the system is evolved to a different operating state or network topology. In order to address the generality issue of NNs, a value priority scheme is proposed in this work to design a hybrid linear and nonlinear controllers. The algorithm so-called supervised RL is based on mixture of experts, where it is initialized by linear controller and as the performance and identification of the RL controller improves in real-time switches to the other controller. This work also focuses on transient stability and develops Lyapunov energy functions for synchronous generators to monitor the stability stress of the system. Using such energies as a cost function guarantees the convergence toward optimal post-fault solutions. These energy functions are developed on inter-area oscillations of the system identified online with Prony analysis. Finally, this work investigates the impacts of renewable energy resources, in specific Doubly Fed Induction Generator (DFIG)-based wind turbines, on power system transient stability and control. As the penetration of such resources is increased in transmission power system, neglecting the impacts of them will make the WAC design non-realistic. An energy function is proposed for DFIGs based on their dynamic performance in transient disturbances. Further, this energy is augmented to synchronous generators' energy as a global cost function, which is minimized by the WAC signals. We discuss the relative advantages and bottlenecks of each architecture and methodology using dynamic simulations of several test systems including a 2-area 8 bus system, IEEE 39 bus system, and IEEE 68 bus system in EMTP and real-time simulators. Being nonlinear-based, fast, accurate, and non-model based design, the proposed WAC system shows better transient and damping response when compared to conventional control schemes and local PSSs.

Application of matrix singular value properties for evaluating gain and phase margins of multiloop systems. [stability margins for wing flutter suppression and drone lateral attitude control

NASA Technical Reports Server (NTRS)

Mukhopadhyay, V.; Newsom, J. R.

1982-01-01

A stability margin evaluation method in terms of simultaneous gain and phase changes in all loops of a multiloop system is presented. A universal gain-phase margin evaluation diagram is constructed by generalizing an existing method using matrix singular value properties. Using this diagram and computing the minimum singular value of the system return difference matrix over the operating frequency range, regions of guaranteed stability margins can be obtained. Singular values are computed for a wing flutter suppression and a drone lateral attitude control problem. The numerical results indicate that this method predicts quite conservative stability margins. In the second example if the eigenvalue magnitude is used instead of the singular value, as a measure of nearness to singularity, more realistic stability margins are obtained. However, this relaxed measure generally cannot guarantee global stability.

Research on phase locked loop in optical memory servo system

NASA Astrophysics Data System (ADS)

Qin, Liqin; Ma, Jianshe; Zhang, Jianyong; Pan, Longfa; Deng, Ming

2005-09-01

Phase locked loop (PLL) is a closed loop automatic control system, which can track the phase of input signal. It widely applies in each area of electronic technology. This paper research the phase locked loop in optical memory servo area. This paper introduces the configuration of digital phase locked loop (PLL) and phase locked servo system, the control theory, and analyses system's stability. It constructs the phase locked loop experiment system of optical disk spindle servo, which based on special chip. DC motor is main object, this system adopted phase locked servo technique and digital signal processor (DSP) to achieve constant linear velocity (CLV) in controlling optical spindle motor. This paper analyses the factors that affect the stability of phase locked loop in spindle servo system, and discusses the affection to the optical disk readout signal and jitter due to the stability of phase locked loop.

Cooperative control theory and integrated flight and propulsion control

NASA Technical Reports Server (NTRS)

Schmidt, David K.; Schierman, John D.

1994-01-01

This report documents the activities and research results obtained under a grant (NAG3-998) from the NASA Lewis Research Center. The focus of the research was the investigation of dynamic interactions between airframe and engines for advanced ASTOVL aircraft configurations, and the analysis of the implications of these interactions on the stability and performance of the airframe and engine control systems. In addition, the need for integrated flight and propulsion control for such aircraft was addressed. The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multi variable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important non-linear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multi variable techniques, included model-following formulations of LQG and/or H (infinity) methods showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods.

Model reference adaptive control for the azimuth-pointing system of a balloon-borne stabilized platform

NASA Technical Reports Server (NTRS)

Lubin, Philip M.; Tomizuka, Masayoshi; Chingcuanco, Alfredo O.; Meinhold, Peter R.

1991-01-01

A balloon-born stabilized platform has been developed for the remotely operated altitude-azimuth pointing of a millimeter wave telescope system. This paper presents a development and implementation of model reference adaptive control (MRAC) for the azimuth-pointing system of the stabilized platform. The primary goal of the controller is to achieve pointing rms better than 0.1 deg. Simulation results indicate that MRAC can achieve pointing rms better than 0.1 deg. Ground test results show pointing rms better than 0.03 deg. Data from the first flight at the National Scientific Balloon Facility (NSBF) Palestine, Texas show pointing rms better than 0.02 deg.

A family of asymptotically stable control laws for flexible robots based on a passivity approach

NASA Technical Reports Server (NTRS)

Lanari, Leonardo; Wen, John T.

1991-01-01

A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility.

Adjustment of Adaptive Gain with Bounded Linear Stability Analysis to Improve Time-Delay Margin for Metrics-Driven Adaptive Control

NASA Technical Reports Server (NTRS)

Bakhtiari-Nejad, Maryam; Nguyen, Nhan T.; Krishnakumar, Kalmanje Srinvas

2009-01-01

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a linear damaged twin-engine generic transport model of aircraft. The analysis shows that the system with the adjusted adaptive gain becomes more robust to unmodeled dynamics or time delay.

Intelligent robust control for uncertain nonlinear time-varying systems and its application to robotic systems.

PubMed

Chang, Yeong-Chan

2005-12-01

This paper addresses the problem of designing adaptive fuzzy-based (or neural network-based) robust controls for a large class of uncertain nonlinear time-varying systems. This class of systems can be perturbed by plant uncertainties, unmodeled perturbations, and external disturbances. Nonlinear H(infinity) control technique incorporated with adaptive control technique and VSC technique is employed to construct the intelligent robust stabilization controller such that an H(infinity) control is achieved. The problem of the robust tracking control design for uncertain robotic systems is employed to demonstrate the effectiveness of the developed robust stabilization control scheme. Therefore, an intelligent robust tracking controller for uncertain robotic systems in the presence of high-degree uncertainties can easily be implemented. Its solution requires only to solve a linear algebraic matrix inequality and a satisfactorily transient and asymptotical tracking performance is guaranteed. A simulation example is made to confirm the performance of the developed control algorithms.

Control of linear uncertain systems utilizing mismatched state observers

NASA Technical Reports Server (NTRS)

Goldstein, B.

1972-01-01

The control of linear continuous dynamical systems is investigated as a problem of limited state feedback control. The equations which describe the structure of an observer are developed constrained to time-invarient systems. The optimal control problem is formulated, accounting for the uncertainty in the design parameters. Expressions for bounds on closed loop stability are also developed. The results indicate that very little uncertainty may be tolerated before divergence occurs in the recursive computation algorithms, and the derived stability bound yields extremely conservative estimates of regions of allowable parameter variations.

Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

NASA Astrophysics Data System (ADS)

Armah, Stephen Kofi

Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized second-order altitude models for the quadrotor, AR.Drone 2.0. Proportional (P), pole placement or proportional plus velocity (PV), linear quadratic regulator (LQR), and model reference adaptive control (MRAC) controllers are designed and validated through simulations using MATLAB/Simulink. Control input saturation and time delay in the controlled systems are also studied. MATLAB graphical user interface (GUI) and Simulink programs are developed to implement the controllers on the drone. Thirdly, the time delay in the drone's control system is estimated using analytical and experimental methods. In the experimental approach, the transient properties of the experimental altitude responses are compared to those of simulated responses. The analytical approach makes use of the Lambert W function to obtain analytical solutions of scalar first-order delay differential equations (DDEs). A time-delayed P-feedback control system (retarded type) is used in estimating the time delay. Then an improved system performance is obtained by incorporating the estimated time delay in the design of the PV control system (neutral type) and PV-MRAC control system. Furthermore, the stability of a parametric perturbed linear time-invariant (LTI) retarded-type system is studied. This is done by analytically calculating the stability radius of the system. Simulation of the control system is conducted to confirm the stability. This robust control design and uncertainty analysis are conducted for first-order and second-order quadrotor models. Lastly, the robustly designed PV and PV-MRAC control systems are used to autonomously track multiple waypoints. Also, the robustness of the PV-MRAC controller is tested against a baseline PV controller using the payload capability of the drone. It is shown that the PV-MRAC offers several benefits over the fixed-gain approach of the PV controller. The adaptive control is found to offer enhanced robustness to the payload fluctuations.

Mitigation of Remedial Action Schemes by Decentralized Robust Governor Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Elizondo, Marcelo A.; Marinovici, Laurentiu D.; Lian, Jianming

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 thismore » 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.« less

On the interaction structure of linear multi-input feedback control systems. M.S. Thesis; [problem solving, lattices (mathematics)

NASA Technical Reports Server (NTRS)

Wong, P. K.

1975-01-01

The closely-related problems of designing reliable feedback stabilization strategy and coordinating decentralized feedbacks are considered. Two approaches are taken. A geometric characterization of the structure of control interaction (and its dual) was first attempted and a concept of structural homomorphism developed based on the idea of 'similarity' of interaction pattern. The idea of finding classes of individual feedback maps that do not 'interfere' with the stabilizing action of each other was developed by identifying the structural properties of nondestabilizing and LQ-optimal feedback maps. Some known stability properties of LQ-feedback were generalized and some partial solutions were provided to the reliable stabilization and decentralized feedback coordination problems. A concept of coordination parametrization was introduced, and a scheme for classifying different modes of decentralization (information, control law computation, on-line control implementation) in control systems was developed.

Improvement in the control aspect of laser frequency stabilization for SUNLITE project

NASA Technical Reports Server (NTRS)

Zia, Omar

1992-01-01

Flight Electronics Division of Langley Research Center is developing a spaceflight experiment called the Stanford University and NASA Laser In-Space Technology (SUNLITE). The objective of the project is to explore the fundamental limits on frequency stability using an FM laser locking technique on a Nd:YAG non-planar ring (free-running linewidth of 5 KHz) oscillator in the vibration free, microgravity environment of space. Compact and automated actively stabilized terahertz laser oscillators will operate in space with an expected linewidth of less than 3 Hz. To implement and verify this experiment, NASA engineers have designed and built a state of the art, space qualified high speed data acquisition system for measuring the linewidth and stability limits of a laser oscillator. In order to achieve greater stability and better performance, an active frequency control scheme requiring the use of a feedback control loop has been applied. In the summer of 1991, the application of control theory in active frequency control as a frequency stabilization technique was investigated. The results and findings were presented in 1992 at the American Control Conference in Chicago, and have been published in Conference Proceedings. The main focus was to seek further improvement in the overall performance of the system by replacing the analogue controller by a digital algorithm.

Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System

NASA Technical Reports Server (NTRS)

Williams-Hayes, Peggy S.

2004-01-01

The NASA F-15 Intelligent Flight Control System project team developed a series of flight control concepts designed to demonstrate neural network-based adaptive controller benefits, with the objective to develop and flight-test control systems using neural network technology to optimize aircraft performance under nominal conditions and stabilize the aircraft under failure conditions. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to baseline aerodynamic derivatives in flight. This open-loop flight test set was performed in preparation for a future phase in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed - pitch frequency sweep and automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. Flight data examination shows that addition of flight-identified aerodynamic derivative increments into the simulation improved aircraft pitch handling qualities.

Handling performance control for hybrid 8-wheel-drive vehicle and simulation verification

NASA Astrophysics Data System (ADS)

Ni, Jun; Hu, Jibin

2016-08-01

In order to improve handling performance of a hybrid 8-Wheel-Drive vehicle, the handling performance control strategy was proposed. For armoured vehicle, besides handling stability in high speed, the minimum steer radius in low speed is also a key tactical and technical index. Based on that, the proposed handling performance control strategy includes 'Handling Stability' and 'Radius Minimization' control modes. In 'Handling Stability' control mode, 'Neutralsteer Radio' is defined to adjust the steering characteristics to satisfy different demand in different speed range. In 'Radius Minimization' control mode, the independent motors are controlled to provide an additional yaw moment to decrease the minimum steer radius. In order to verify the strategy, a simulation platform was built including engine and continuously variable transmission systems, generator and battery systems, independent motors and controllers systems, vehicle dynamic and tyre mechanical systems. The simulation results show that the handling performance of the vehicle can be enhanced significantly, and the minimum steer radius can be decreased by 20% which is significant improvement compared to the common level of main battle armoured vehicle around the world.

Second-order sliding mode control with experimental application.

PubMed

Eker, Ilyas

2010-07-01

In this article, a second-order sliding mode control (2-SMC) is proposed for second-order uncertain plants using equivalent control approach to improve the performance of control systems. A Proportional + Integral + Derivative (PID) sliding surface is used for the sliding mode. The sliding mode control law is derived using direct Lyapunov stability approach and asymptotic stability is proved theoretically. The performance of the closed-loop system is analysed through an experimental application to an electromechanical plant to show the feasibility and effectiveness of the proposed second-order sliding mode control and factors involved in the design. The second-order plant parameters are experimentally determined using input-output measured data. The results of the experimental application are presented to make a quantitative comparison with the traditional (first-order) sliding mode control (SMC) and PID control. It is demonstrated that the proposed 2-SMC system improves the performance of the closed-loop system with better tracking specifications in the case of external disturbances, better behavior of the output and faster convergence of the sliding surface while maintaining the stability. 2010 ISA. Published by Elsevier Ltd. All rights reserved.

76 FR 49533 - Spyker Automobielen B.V.; Receipt of Application for Temporary Exemption from FMVSS No. 126

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-10

... Standard (FMVSS) No. 126, Electronic Stability Control Systems. SUMMARY: In accordance with the procedures... line of vehicles from the requirements of FMVSS No. 126, the standard for electronic stability control systems. The basis of the application is that compliance would cause substantial economic hardship to a...

77 FR 30765 - Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems for Heavy Vehicles

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-23

... truck tractors and large buses are designed to reduce untripped rollovers and mitigate severe understeer... vehicles. A roll stability control (RSC) system is designed to prevent rollover by decelerating the vehicle... vehicle operation, as well as factors related to roadway design and road surface properties, can cause...

14 CFR Appendix B to Part 29 - Airworthiness Criteria for Helicopter Instrument Flight

Code of Federal Regulations, 2010 CFR

2010-01-01

.... Dynamic stability. (a) Any oscillation having a period of less than 5 seconds must damp to 1/2 amplitude... achieve double amplitude in less than 9 seconds. VII. Stability Augmentation System (SAS) (a) If a SAS is... control system must be considered. In addition— (i) The controllability and maneuverability requirements...

Asymmetrical booster ascent guidance and control system design study. Volume 1: Summary. [space shuttle development

NASA Technical Reports Server (NTRS)

Williams, F. E.; Lemon, R. S.; Jaggers, R. F.; Wilson, J. L.

1974-01-01

Dynamics and control, stability, and guidance analyses are summarized for the asymmetrical booster ascent guidance and control system design studies, performed in conjunction with space shuttle planning. The mathematical models developed for use in rigid body and flexible body versions of the NASA JSC space shuttle functional simulator are briefly discussed, along with information on the following: (1) space shuttle stability analysis using equations of motion for both pitch and lateral axes; (2) the computer program used to obtain stability margin; and (3) the guidance equations developed for the space shuttle powered flight phases.

Experimental Investigations of Generalized Predictive Control for Tiltrotor Stability Augmentation

NASA Technical Reports Server (NTRS)

Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Piatak, David J.; Kvaternik, Raymond G.; Bennett, Richard L.; Brown, Ross K.

2001-01-01

A team of researchers from the Army Research Laboratory, NASA Langley Research Center (LaRC), and Bell Helicopter-Textron, Inc. have completed hover-cell and wind-tunnel testing of a 1/5-size aeroelastically-scaled tiltrotor model using a new active control system for stability augmentation. The active system is based on a generalized predictive control (GPC) algorithm originally developed at NASA LaRC in 1997 for un-known disturbance rejection. Results of these investigations show that GPC combined with an active swashplate can significantly augment the damping and stability of tiltrotors in both hover and high-speed flight.

Carrier-envelope phase stabilization and control using a transmission grating compressor and an AOPDF.

PubMed

Canova, Lorenzo; Chen, Xiaowei; Trisorio, Alexandre; Jullien, Aurélie; Assion, Andreas; Tempea, Gabriel; Forget, Nicolas; Oksenhendler, Thomas; Lopez-Martens, Rodrigo

2009-05-01

Carrier-envelope phase (CEP) stabilization of a femtosecond chirped-pulse amplification system featuring a compact transmission grating compressor is demonstrated. The system includes two amplification stages and routinely generates phase-stable (approximately 250 mrad rms) 2 mJ, 25 fs pulses at 1 kHz. Minimizing the optical pathway in the compressor enables phase stabilization without feedback control of the grating separation or beam pointing. We also demonstrate for the first time to the best of our knowledge, out-of-loop control of the CEP using an acousto-optic programmable dispersive filter inside the laser chain.

Lockheed L-1101 avionic flight control redundant systems

NASA Technical Reports Server (NTRS)

Throndsen, E. O.

1976-01-01

The Lockheed L-1011 automatic flight control systems - yaw stability augmentation and automatic landing - are described in terms of their redundancies. The reliability objectives for these systems are discussed and related to in-service experience. In general, the availability of the stability augmentation system is higher than the original design requirement, but is commensurate with early estimates. The in-service experience with automatic landing is not sufficient to provide verification of Category 3 automatic landing system estimated availability.

A flight investigation of the stability, control, and handling qualities of an augmented jet flap STOL airplane

NASA Technical Reports Server (NTRS)

Vomaske, R. F.; Innis, R. C.; Swan, B. E.; Grossmith, S. W.

1978-01-01

The stability, control, and handling qualities of an augmented jet flap STOL airplane are presented. The airplane is an extensively modified de Havilland Buffalo military transport. The modified airplane has two fan-jet engines which provide vectorable thrust and compressed air for the augmentor jet flap and Boundary-Layer Control (BLC). The augmentor and BLC air is cross ducted to minimize asymmetric moments produced when one engine is inoperative. The modifications incorporated in the airplane include a Stability Augmentation System (SAS), a powered elevator, and a powered lateral control system. The test gross weight of the airplane was between 165,000 and 209,000 N (37,000 and 47,000 lb). Stability, control, and handling qualities are presented for the airspeed range of 40 to 180 knots. The lateral-directional handling qualities are considered satisfactory for the normal operating range of 65 to 160 knots airspeed when the SAS is functioning. With the SAS inoperative, poor turn coordination and spiral instability are primary deficiencies contributing to marginal handling qualities in the landing approach. The powered elevator control system enhanced the controllability in pitch, particularly in the landing flare and stall recovery.

A new fractional-order sliding mode controller via a nonlinear disturbance observer for a class of dynamical systems with mismatched disturbances.

PubMed

Pashaei, Shabnam; Badamchizadeh, Mohammadali

2016-07-01

This paper investigates the stabilization and disturbance rejection for a class of fractional-order nonlinear dynamical systems with mismatched disturbances. To fulfill this purpose a new fractional-order sliding mode control (FOSMC) based on a nonlinear disturbance observer is proposed. In order to design the suitable fractional-order sliding mode controller, a proper switching surface is introduced. Afterward, by using the sliding mode theory and Lyapunov stability theory, a robust fractional-order control law via a nonlinear disturbance observer is proposed to assure the existence of the sliding motion in finite time. The proposed fractional-order sliding mode controller exposes better control performance, ensures fast and robust stability of the closed-loop system, eliminates the disturbances and diminishes the chattering problem. Finally, the effectiveness of the proposed fractional-order controller is depicted via numerical simulation results of practical example and is compared with some other controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Stabilization for sampled-data neural-network-based control systems.

PubMed

Zhu, Xun-Lin; Wang, Youyi

2011-02-01

This paper studies the problem of stabilization for sampled-data neural-network-based control systems with an optimal guaranteed cost. Unlike previous works, the resulting closed-loop system with variable uncertain sampling cannot simply be regarded as an ordinary continuous-time system with a fast-varying delay in the state. By defining a novel piecewise Lyapunov functional and using a convex combination technique, the characteristic of sampled-data systems is captured. A new delay-dependent stabilization criterion is established in terms of linear matrix inequalities such that the maximal sampling interval and the minimal guaranteed cost control performance can be obtained. It is shown that the newly proposed approach can lead to less conservative and less complex results than the existing ones. Application examples are given to illustrate the effectiveness and the benefits of the proposed method.

Neural network robust tracking control with adaptive critic framework for uncertain nonlinear systems.

PubMed

Wang, Ding; Liu, Derong; Zhang, Yun; Li, Hongyi

2018-01-01

In this paper, we aim to tackle the neural robust tracking control problem for a class of nonlinear systems using the adaptive critic technique. The main contribution is that a neural-network-based robust tracking control scheme is established for nonlinear systems involving matched uncertainties. The augmented system considering the tracking error and the reference trajectory is formulated and then addressed under adaptive critic optimal control formulation, where the initial stabilizing controller is not needed. The approximate control law is derived via solving the Hamilton-Jacobi-Bellman equation related to the nominal augmented system, followed by closed-loop stability analysis. The robust tracking control performance is guaranteed theoretically via Lyapunov approach and also verified through simulation illustration. Copyright © 2017 Elsevier Ltd. All rights reserved.

On the adaptive sliding mode controller for a hyperchaotic fractional-order financial system

NASA Astrophysics Data System (ADS)

Hajipour, Ahamad; Hajipour, Mojtaba; Baleanu, Dumitru

2018-05-01

This manuscript mainly focuses on the construction, dynamic analysis and control of a new fractional-order financial system. The basic dynamical behaviors of the proposed system are studied such as the equilibrium points and their stability, Lyapunov exponents, bifurcation diagrams, phase portraits of state variables and the intervals of system parameters. It is shown that the system exhibits hyperchaotic behavior for a number of system parameters and fractional-order values. To stabilize the proposed hyperchaotic fractional system with uncertain dynamics and disturbances, an efficient adaptive sliding mode controller technique is developed. Using the proposed technique, two hyperchaotic fractional-order financial systems are also synchronized. Numerical simulations are presented to verify the successful performance of the designed controllers.

Control design for robust stability in linear regulators: Application to aerospace flight control

NASA Technical Reports Server (NTRS)

Yedavalli, R. K.

1986-01-01

Time domain stability robustness analysis and design for linear multivariable uncertain systems with bounded uncertainties is the central theme of the research. After reviewing the recently developed upper bounds on the linear elemental (structured), time varying perturbation of an asymptotically stable linear time invariant regulator, it is shown that it is possible to further improve these bounds by employing state transformations. Then introducing a quantitative measure called the stability robustness index, a state feedback conrol design algorithm is presented for a general linear regulator problem and then specialized to the case of modal systems as well as matched systems. The extension of the algorithm to stochastic systems with Kalman filter as the state estimator is presented. Finally an algorithm for robust dynamic compensator design is presented using Parameter Optimization (PO) procedure. Applications in a aircraft control and flexible structure control are presented along with a comparison with other existing methods.

A Theoretical Investigation of Longitudinal Stability of Airplane with Free Controls Including Effect of Friction in Control System

NASA Technical Reports Server (NTRS)

Greenberg, Harry; Sternfield, Leonard

1944-01-01

The relation between the elevator hinge-moment parameters and the control-forces for changes in forward speed and in maneuvers is shown for several values of static stability and elevator mass balance.

Decentralized adaptive control of interconnected nonlinear systems with unknown control directions.

PubMed

Huang, Jiangshuai; Wang, Qing-Guo

2018-03-01

In this paper, we propose a decentralized adaptive control scheme for a class of interconnected strict-feedback nonlinear systems without a priori knowledge of subsystems' control directions. To address this problem, a novel Nussbaum-type function is proposed and a key theorem is drawn which involves quantifying the interconnections of multiple Nussbaum-type functions of the subsystems with different control directions in a single inequality. Global stability of the closed-loop system and asymptotic stabilization of subsystems' output are proved and a simulation example is given to illustrate the effectiveness of the proposed control scheme. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Sampled-data-based vibration control for structural systems with finite-time state constraint and sensor outage.

PubMed

Weng, Falu; Liu, Mingxin; Mao, Weijie; Ding, Yuanchun; Liu, Feifei

2018-05-10

The problem of sampled-data-based vibration control for structural systems with finite-time state constraint and sensor outage is investigated in this paper. The objective of designing controllers is to guarantee the stability and anti-disturbance performance of the closed-loop systems while some sensor outages happen. Firstly, based on matrix transformation, the state-space model of structural systems with sensor outages and uncertainties appearing in the mass, damping and stiffness matrices is established. Secondly, by considering most of those earthquakes or strong winds happen in a very short time, and it is often the peak values make the structures damaged, the finite-time stability analysis method is introduced to constrain the state responses in a given time interval, and the H-infinity stability is adopted in the controller design to make sure that the closed-loop system has a prescribed level of disturbance attenuation performance during the whole control process. Furthermore, all stabilization conditions are expressed in the forms of linear matrix inequalities (LMIs), whose feasibility can be easily checked by using the LMI Toolbox. Finally, numerical examples are given to demonstrate the effectiveness of the proposed theorems. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Study on rejection characteristic of current loop to the base disturbance of optical communication system

NASA Astrophysics Data System (ADS)

Mao, Yao; Deng, Chao; Liu, Qiong; Cao, Zheng

2016-10-01

As laser has narrow transmitting beam and small divergence angle, the LOS (Line of Sight) stabilization of optical communication system is a primary precondition of laser communication links. Compound axis control is usually adopted in LOS stabilization of optical communication system, in which coarse tracking and fine tracking are included. Rejection against high frequency disturbance mainly depends on fine tracking LOS stabilization platform. Limited by different factors such as mechanical characteristic of the stabilization platform and bandwidth/noise of the sensor, the control bandwidth of LOS stabilization platform is restricted so that effective rejection of high frequency disturbance cannot be achieved as it mainly depends on the isolation characteristic of the platform itself. It is proposed by this paper that current loop may reject the effect of back-EMF. By adopting the method of electric control, high frequency isolation characteristic of the platform can be improved. The improvement effect is similar to increasing passive vibration reduction devices. Adopting the double closed loop control structure of velocity and current with the combining of the rejection effect of back-EMF caused by current loop is equivalent to reducing back-EMF coefficient, which can enhance the isolation ability of the LOS stabilization platform to high frequency disturbance.

Damping torque analysis of VSC-based system utilizing power synchronization control

NASA Astrophysics Data System (ADS)

Fu, Q.; Du, W. J.; Zheng, K. Y.; Wang, H. F.

2017-05-01

Power synchronization control is a new control strategy of VSC-HVDC for connecting a weak power system. Different from the vector control method, this control method utilizes the internal synchronization mechanism in ac systems, in principle, similar to the operation of a synchronous machine. So that the parameters of controllers in power synchronization control will change the electromechanical oscillation modes and make an impact on the transient stability of power system. This paper present a mathematical model for small-signal stability analysis of VSC station used power synchronization control and analyse the impact of the dynamic interactions by calculating the contribution of the damping torque from the power synchronization control, besides, the parameters of controllers which correspond to damping torque and synchronous torque in the power synchronization control is defined respectively. At the end of the paper, an example power system is presented to demonstrate and validate the theoretical analysis and associated conclusions are made.

Initial Ares I Bending Filter Design

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; Bedrossian, Nazareth; Hall, Robert; Norris, H. Lee; Hall, Charles; Jackson, Mark

2007-01-01

The Ares-I launch vehicle represents a challenging flex-body structural environment for control system design. Software filtering of the inertial sensor output will be required to ensure control system stability and adequate performance. This paper presents a design methodology employing numerical optimization to develop the Ares-I bending filters. The filter design methodology was based on a numerical constrained optimization approach to maximize stability margins while meeting performance requirements. The resulting bending filter designs achieved stability by adding lag to the first structural frequency and hence phase stabilizing the first Ares-I flex mode. To minimize rigid body performance impacts, a priority was placed via constraints in the optimization algorithm to minimize bandwidth decrease with the addition of the bending filters. The bending filters provided here have been demonstrated to provide a stable first stage control system in both the frequency domain and the MSFC MAVERIC time domain simulation.

Integrated Application of Active Controls (IAAC) technology to an advanced subsonic transport project. ACT/Control/Guidance System study, volume 1

NASA Technical Reports Server (NTRS)

1982-01-01

The active control technology (ACT) control/guidance system task of the integrated application of active controls (IAAC) technology project within the NASA energy efficient transport program was documented. The air traffic environment of navigation and air traffic control systems and procedures were extrapolated. An approach to listing flight functions which will be performed by systems and crew of an ACT configured airplane of the 1990s, and a determination of function criticalities to safety of flight, are the basis of candidate integrated ACT/Control/Guidance System architecture. The system mechanizes five active control functions: pitch augmented stability, angle of attack limiting, lateral/directional augmented stability, gust load alleviation, and maneuver load control. The scope and requirements of a program for simulating the integrated ACT avionics and flight deck system, with pilot in the loop, are defined, system and crew interface elements are simulated, and mechanization is recommended. Relationships between system design and crew roles and procedures are evaluated.

76 FR 38270 - Terrafugia, Inc.; Grant of Application for Temporary Exemption From Certain Requirements of FMVSS...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-29

... No. 110, Tire Selection and Rims for Motor Vehicles, FMVSS No. 126, Electronic Stability Control..., Electronic Stability Control Systems, FMVSS No. 205, Glazing Materials, and FMVSS No. 208, Occupant Crash... FMVSS requirements for tire selection and rims for motor vehicles (FMVSS No. 110), electronic stability...

Finite-time output feedback stabilization of high-order uncertain nonlinear systems

NASA Astrophysics Data System (ADS)

Jiang, Meng-Meng; Xie, Xue-Jun; Zhang, Kemei

2018-06-01

This paper studies the problem of finite-time output feedback stabilization for a class of high-order nonlinear systems with the unknown output function and control coefficients. Under the weaker assumption that output function is only continuous, by using homogeneous domination method together with adding a power integrator method, introducing a new analysis method, the maximal open sector Ω of output function is given. As long as output function belongs to any closed sector included in Ω, an output feedback controller can be developed to guarantee global finite-time stability of the closed-loop system.

The role of auditory and kinaesthetic feedback mechanisms on phonatory stability in children.

PubMed

Rathna Kumar, S B; Azeem, Suhail; Choudhary, Abhishek Kumar; Prakash, S G R

2013-12-01

Auditory feedback plays an important role in phonatory control. When auditory feedback is disrupted, various changes are observed in vocal motor control. Vocal intensity and fundamental frequency (F0) levels tend to increase in response to auditory masking. Because of the close reflexive links between the auditory and phonatory systems, it is likely that phonatory stability may be disrupted when auditory feedback is disrupted or altered. However, studies on phonatory stability under auditory masking condition in adult subjects showed that most of the subjects maintained normal levels of phonatory stability. The authors in the earlier investigations suggested that auditory feedback is not the sole contributor to vocal motor control and phonatory stability, a complex neuromuscular reflex system known as kinaesthetic feedback may play a role in controlling phonatory stability when auditory feedback is disrupted or lacking. This proposes the need to further investigate this phenomenon as to whether children show similar patterns of phonatory stability under auditory masking since their neuromotor systems are still at developmental stage, less mature and are less resistant to altered auditory feedback than adults. A total of 40 normal hearing and speaking children (20 male and 20 female) between the age group of 6 and 8 years participated as subjects. The acoustic parameters such as shimmer, jitter and harmonic-to-noise ratio (HNR) were measures and compared between no masking condition (0 dB ML) and masking condition (90 dB ML). Despite the neuromotor systems being less mature in children and less resistant than adults to altered auditory feedback, most of the children in the study demonstrated increased phonatory stability which was reflected by reduced shimmer, jitter and increased HNR values. This study implicates that most of the children demonstrate well established patterns of kinaesthetic feedback, which might have allowed them to maintain normal levels of vocal motor control even in the presence of disturbed auditory feedback. Hence, it can be concluded that children also exhibit kinaesthetic feedback mechanism to control phonatory stability when auditory feedback is disrupted which in turn highlights the importance of kinaesthetic feedback to be included in the therapeutic/intervention approaches for children with hearing and neurogenic speech deficits.

Pressure activated stability-bypass-control valves to increase the stable airflow range of a Mach 2.5 inlet with 40 percent internal contraction

NASA Technical Reports Server (NTRS)

Mitchell, G. A.; Sanders, B. W.

1974-01-01

The throat of a Mach 2.5 inlet with a coldpipe termination was fitted with a stability-bypass system. The inlet stable airflow range provided by various stability-bypass entrance configurations in alternate combination with several stability-bypass exit controls was determined for both steady-state conditions and internal transient pulses. Transient results were also obtained for the inlet with a choke point at the diffuser exit. Instart angles of attack were determined for the various stability-bypass entrance configurations. The response of the inlet-coldpipe system to internal and external oscillating disturbances was determined. Poppet valves at the stability-bypass exit provided an inlet stable airflow range of 28 percent or greater at all static and transient conditions.

Discrete-time stability of continuous-time controller designs for large space structures

NASA Technical Reports Server (NTRS)

Balas, M. J.

1982-01-01

In most of the stable control designs for flexible structures, continuous time is assumed. However, in view of the implementation of the controllers by on-line digital computers, the discrete-time stability of such controllers is an important consideration. In the case of direct-velocity feedback (DVFB), involving negative feedback from collocated force actuators and velocity sensors, it is not immediately apparent how much delay due to digital implementation of DVFB can be tolerated without loss of stability. The present investigation is concerned with such questions. A study is conducted of the discrete-time stability of DVFB, taking into account an employment of Euler's method of approximation of the time derivative. The obtained result gives an indication of the acceptable time-step size for stable digital implementation of DVFB. A result derived in connection with the consideration of the discrete-time stability of stable continuous-time systems provides a general condition under which digital implementation of such a system will remain stable.

A novel single thruster control strategy for spacecraft attitude stabilization

NASA Astrophysics Data System (ADS)

Godard; Kumar, Krishna Dev; Zou, An-Min

2013-05-01

Feasibility of achieving three axis attitude stabilization using a single thruster is explored in this paper. Torques are generated using a thruster orientation mechanism with which the thrust vector can be tilted on a two axis gimbal. A robust nonlinear control scheme is developed based on the nonlinear kinematic and dynamic equations of motion of a rigid body spacecraft in the presence of gravity gradient torque and external disturbances. The spacecraft, controlled using the proposed concept, constitutes an underactuated system (a system with fewer independent control inputs than degrees of freedom) with nonlinear dynamics. Moreover, using thruster gimbal angles as control inputs make the system non-affine (control terms appear nonlinearly in the state equation). This necessitates the control algorithms to be developed based on nonlinear control theory since linear control methods are not directly applicable. The stability conditions for the spacecraft attitude motion for robustness against uncertainties and disturbances are derived to establish the regions of asymptotic 3-axis attitude stabilization. Several numerical simulations are presented to demonstrate the efficacy of the proposed controller and validate the theoretical results. The control algorithm is shown to compensate for time-varying external disturbances including solar radiation pressure, aerodynamic forces, and magnetic disturbances; and uncertainties in the spacecraft inertia parameters. The numerical results also establish the robustness of the proposed control scheme to negate disturbances caused by orbit eccentricity.

Spin Stabilized Impulsively Controlled Missile (SSICM)

NASA Astrophysics Data System (ADS)

Crawford, J. I.; Howell, W. M.

1985-12-01

This patent is for the Spin Stabilized Impulsively Controlled Missile (SSICM). SSICM is a missile configuration which employs spin stabilization, nutational motion, and impulsive thrusting, and a body mounted passive or semiactive sensor to achieve very small miss distances against a high speed moving target. SSICM does not contain an autopilot, control surfaces, a control actuation system, nor sensor stabilization gimbals. SSICM spins at a rate sufficient to provide frequency separation between body motions and inertial target motion. Its impulsive thrusters provide near instantaneous changes in lateral velocity, whereas conventional missiles require a significant time delay to achieve lateral acceleration.

A robust model predictive control algorithm for uncertain nonlinear systems that guarantees resolvability

NASA Technical Reports Server (NTRS)

Acikmese, Ahmet Behcet; Carson, John M., III

2006-01-01

A robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems is developed that guarantees resolvability. With resolvability, initial feasibility of the finite-horizon optimal control problem implies future feasibility in a receding-horizon framework. The control consists of two components; (i) feed-forward, and (ii) feedback part. Feed-forward control is obtained by online solution of a finite-horizon optimal control problem for the nominal system dynamics. The feedback control policy is designed off-line based on a bound on the uncertainty in the system model. The entire controller is shown to be robustly stabilizing with a region of attraction composed of initial states for which the finite-horizon optimal control problem is feasible. The controller design for this algorithm is demonstrated on a class of systems with uncertain nonlinear terms that have norm-bounded derivatives and derivatives in polytopes. An illustrative numerical example is also provided.

Robust Control for Microgravity Vibration Isolation using Fixed Order, Mixed H2/Mu Design

NASA Technical Reports Server (NTRS)

Whorton, Mark

2003-01-01

Many space-science experiments need an active isolation system to provide a sufficiently quiescent microgravity environment. Modern control methods provide the potential for both high-performance and robust stability in the presence of parametric uncertainties that are characteristic of microgravity vibration isolation systems. While H2 and H(infinity) methods are well established, neither provides the levels of attenuation performance and robust stability in a compensator with low order. Mixed H2/H(infinity), controllers provide a means for maximizing robust stability for a given level of mean-square nominal performance while directly optimizing for controller order constraints. This paper demonstrates the benefit of mixed norm design from the perspective of robustness to parametric uncertainties and controller order for microgravity vibration isolation. A nominal performance metric analogous to the mu measure, for robust stability assessment is also introduced in order to define an acceptable trade space from which different control methodologies can be compared.

Nonlinearity measure and internal model control based linearization in anti-windup design

DOE Office of Scientific and Technical Information (OSTI.GOV)

Perev, Kamen

2013-12-18

This paper considers the problem of internal model control based linearization in anti-windup design. The nonlinearity measure concept is used for quantifying the control system degree of nonlinearity. The linearizing effect of a modified internal model control structure is presented by comparing the nonlinearity measures of the open-loop and closed-loop systems. It is shown that the linearization properties are improved by increasing the control system local feedback gain. However, it is emphasized that at the same time the stability of the system deteriorates. The conflicting goals of stability and linearization are resolved by solving the design problem in different frequencymore » ranges.« less

Wide-area Power System Damping Control Coordination Based on Particle Swarm Optimization with Time Delay Considered

NASA Astrophysics Data System (ADS)

Zhang, J. Y.; Jiang, Y.

2017-10-01

To ensure satisfactory dynamic performance of controllers in time-delayed power systems, a WAMS-based control strategy is investigated in the presence of output feedback delay. An integrated approach based on Pade approximation and particle swarm optimization (PSO) is employed for parameter configuration of PSS. The coordination configuration scheme of power system controllers is achieved by a series of stability constraints at the aim of maximizing the minimum damping ratio of inter-area mode of power system. The validity of this derived PSS is verified on a prototype power system. The findings demonstrate that the proposed approach for control design could damp the inter-area oscillation and enhance the small-signal stability.

Decoupling suspension controller based on magnetic flux feedback.

PubMed

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Decoupling Suspension Controller Based on Magnetic Flux Feedback

PubMed Central

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced. PMID:23844415

Verification test results of Apollo stabilization and control systems during undocked operations

NASA Technical Reports Server (NTRS)

Copeland, E. L.; Haken, R. L.

1974-01-01

The results are presented of analysis and simulation testing of both the Skylark 1 reaction control system digital autopilot (RCS DAP) and the thrust vector control (TVC) autopilot for use during the undocked portions of the Apollo/Soyuz Test Project Mission. The RCS DAP testing was performed using the Skylab Functional Simulator (SLFS), a digital computer program capable of simulating the Apollo and Skylab autopilots along with vehicle dynamics including bending and sloshing. The model is used to simulate three-axis automatic maneuvers along with pilot controlled manual maneuvers using the RCS DAP. The TVC autopilot was tested in two parts. A classical stability analysis was performed on the vehicle considering the effects of structural bending and sloshing when under control of the TVC autopilot. The time response of the TVC autopilot was tested using the SLFS. Results indicate that adequate performance stability margins can be expected for the CSM/DM configuration when under the control of the Apollo control systems tested.

A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

NASA Astrophysics Data System (ADS)

Li, Liang; Jia, Gang; Chen, Jie; Zhu, Hongjun; Cao, Dongpu; Song, Jian

2015-08-01

Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment for the vehicle stability in a steering process, is an important part of electric stability control system. In this field, most control methods utilise the active brake pressure with a feedback controller to adjust the braked wheel. However, the method might lead to a control delay or overshoot because of the lack of a quantitative project relationship between target values from the upper stability controller to the lower pressure controller. Meanwhile, the stability controller usually ignores the implementing ability of the tyre forces, which might be restrained by the combined-slip dynamics of the tyre. Therefore, a novel control algorithm of DYC based on the hierarchical control strategy is brought forward in this paper. As for the upper controller, a correctional linear quadratic regulator, which not only contains feedback control but also contains feed forward control, is introduced to deduce the object of the stability yaw moment in order to guarantee the yaw rate and side-slip angle stability. As for the medium and lower controller, the quantitative relationship between the vehicle stability object and the target tyre forces of controlled wheels is proposed to achieve smooth control performance based on a combined-slip tyre model. The simulations with the hardware-in-the-loop platform validate that the proposed algorithm can improve the stability of the vehicle effectively.

Plug-in module acceleration feedback control for fast steering mirror-based beam stabilization systems

NASA Astrophysics Data System (ADS)

Deng, Chao; Ren, Wei; Mao, Yao; Ren, Ge

2017-08-01

A plug-in module acceleration feedback control (Plug-In AFC) strategy based on the disturbance observer (DOB) principle is proposed for charge-coupled device (CCD)-based fast steering mirror (FSM) stabilization systems. In classical FSM tracking systems, dual-loop control (DLC), including velocity feedback and position feedback, is usually utilized to enhance the closed-loop performance. Due to the mechanical resonance of the system and CCD time delay, the closed-loop bandwidth is severely restricted. To solve this problem, cascade acceleration feedback control (AFC), which is a kind of high-precision robust control method, is introduced to strengthen the disturbance rejection property. However, in practical applications, it is difficult to realize an integral algorithm in an acceleration controller to compensate for the quadratic differential contained in the FSM acceleration model, resulting in a challenging controller design and a limited improvement. To optimize the acceleration feedback framework in the FSM system, different from the cascade AFC, the accelerometers are used to construct DOB to compensate for the platform vibrations directly. The acceleration nested loop can be plugged into the velocity loop without changing the system stability, and the controller design is quite simple. A series of comparative experimental results demonstrate that the disturbance rejection property of the CCD-based FSM can be effectively improved by the proposed approach.

Non-Static error tracking control for near space airship loading platform

NASA Astrophysics Data System (ADS)

Ni, Ming; Tao, Fei; Yang, Jiandong

2018-01-01

A control scheme based on internal model with non-static error is presented against the uncertainty of the near space airship loading platform system. The uncertainty in the tracking table is represented as interval variations in stability and control derivatives. By formulating the tracking problem of the uncertainty system as a robust state feedback stabilization problem of an augmented system, sufficient condition for the existence of robust tracking controller is derived in the form of linear matrix inequality (LMI). Finally, simulation results show that the new method not only has better anti-jamming performance, but also improves the dynamic performance of the high-order systems.

Act-and-wait time-delayed feedback control of autonomous systems

NASA Astrophysics Data System (ADS)

Pyragas, Viktoras; Pyragas, Kestutis

2018-02-01

Recently an act-and-wait modification of time-delayed feedback control has been proposed for the stabilization of unstable periodic orbits in nonautonomous dynamical systems (Pyragas and Pyragas, 2016 [30]). The modification implies a periodic switching of the feedback gain and makes the closed-loop system finite-dimensional. Here we extend this modification to autonomous systems. In order to keep constant the phase difference between the controlled orbit and the act-and-wait switching function an additional small-amplitude periodic perturbation is introduced. The algorithm can stabilize periodic orbits with an odd number of real unstable Floquet exponents using a simple single-input single-output constraint control.

Robust SMES controller design for stabilization of inter-area oscillation considering coil size and system uncertainties

NASA Astrophysics Data System (ADS)

Ngamroo, Issarachai

2010-12-01

It is well known that the superconducting magnetic energy storage (SMES) is able to quickly exchange active and reactive power with the power system. The SMES is expected to be the smart storage device for power system stabilization. Although the stabilizing effect of SMES is significant, the SMES is quite costly. Particularly, the superconducting magnetic coil size which is the essence of the SMES, must be carefully selected. On the other hand, various generation and load changes, unpredictable network structure, etc., cause system uncertainties. The power controller of SMES which is designed without considering such uncertainties, may not tolerate and loses stabilizing effect. To overcome these problems, this paper proposes the new design of robust SMES controller taking coil size and system uncertainties into account. The structure of the active and reactive power controllers is the 1st-order lead-lag compensator. No need for the exact mathematical representation, system uncertainties are modeled by the inverse input multiplicative perturbation. Without the difficulty of the trade-off of damping performance and robustness, the optimization problem of control parameters is formulated. The particle swarm optimization is used for solving the optimal parameters at each coil size automatically. Based on the normalized integral square error index and the consideration of coil current constraint, the robust SMES with the smallest coil size which still provides the satisfactory stabilizing effect, can be achieved. Simulation studies in the two-area four-machine interconnected power system show the superior robustness of the proposed robust SMES with the smallest coil size under various operating conditions over the non-robust SMES with large coil size.

A novel double loop control model design for chemical unstable processes.

PubMed

Cong, Er-Ding; Hu, Ming-Hui; Tu, Shan-Tung; Xuan, Fu-Zhen; Shao, Hui-He

2014-03-01

In this manuscript, based on Smith predictor control scheme for unstable process in industry, an improved double loop control model is proposed for chemical unstable processes. Inner loop is to stabilize integrating the unstable process and transform the original process to first-order plus pure dead-time dynamic stable process. Outer loop is to enhance the performance of set point response. Disturbance controller is designed to enhance the performance of disturbance response. The improved control system is simple with exact physical meaning. The characteristic equation is easy to realize stabilization. Three controllers are separately design in the improved scheme. It is easy to design each controller and good control performance for the respective closed-loop transfer function separately. The robust stability of the proposed control scheme is analyzed. Finally, case studies illustrate that the improved method can give better system performance than existing design methods. © 2013 ISA Published by ISA All rights reserved.

Application of precomputed control laws in a reconfigurable aircraft flight control system

NASA Technical Reports Server (NTRS)

Moerder, Daniel D.; Halyo, Nesim; Broussard, John R.; Caglayan, Alper K.

1989-01-01

A self-repairing flight control system concept in which the control law is reconfigured after actuator and/or control surface damage to preserve stability and pilot command tracking is described. A key feature of the controller is reconfigurable multivariable feedback. The feedback gains are designed off-line and scheduled as a function of the aircraft control impairment status so that reconfiguration is performed simply by updating the gain schedule after detection of an impairment. A novel aspect of the gain schedule design procedure is that the schedule is calculated using a linear quadratic optimization-based simultaneous stabilization algorithm in which the scheduled gain is constrained to stabilize a collection of plant models representing the aircraft in various control failure modes. A description and numerical evaluation of a controller design for a model of a statically unstable high-performance aircraft are given.

Recent Advances in Heliogyro Solar Sail Structural Dynamics, Stability, and Control Research

NASA Technical Reports Server (NTRS)

Wilkie, W. Keats; Warren, Jerry E.; Horta, Lucas G.; Lyle, Karen H.; Juang, Jer-Nan; Gibbs, S. Chad; Dowell, Earl H.; Guerrant, Daniel V.; Lawrence, Dale

2015-01-01

Results from recent NASA sponsored research on the structural dynamics, stability, and control characteristics of heliogyro solar sails are summarized. Specific areas under investigation include coupled nonlinear finite element analysis of heliogyro membrane blade with solar radiation pressure effects, system identification of spinning membrane structures, and solarelastic stability analysis of heliogyro solar sails, including stability during blade deployment. Recent results from terrestrial 1-g blade dynamics and control experiments on "rope ladder" membrane blade analogs, and small-scale in vacuo system identification experiments with hanging and spinning high-aspect ratio membranes will also be presented. A low-cost, rideshare payload heliogyro technology demonstration mission concept is used as a mission context for these heliogyro structural dynamics and solarelasticity investigations, and is also described. Blade torsional dynamic response and control are also shown to be significantly improved through the use of edge stiffening structural features or inclusion of modest tip masses to increase centrifugal stiffening of the blade structure. An output-only system identification procedure suitable for on-orbit blade dynamics investigations is also developed and validated using ground tests of spinning sub-scale heliogyro blade models. Overall, analytical and experimental investigations to date indicate no intractable stability or control issues for the heliogyro solar sail concept.

LMI-based stability analysis of fuzzy-model-based control systems using approximated polynomial membership functions.

PubMed

Narimani, Mohammand; Lam, H K; Dilmaghani, R; Wolfe, Charles

2011-06-01

Relaxed linear-matrix-inequality-based stability conditions for fuzzy-model-based control systems with imperfect premise matching are proposed. First, the derivative of the Lyapunov function, containing the product terms of the fuzzy model and fuzzy controller membership functions, is derived. Then, in the partitioned operating domain of the membership functions, the relations between the state variables and the mentioned product terms are represented by approximated polynomials in each subregion. Next, the stability conditions containing the information of all subsystems and the approximated polynomials are derived. In addition, the concept of the S-procedure is utilized to release the conservativeness caused by considering the whole operating region for approximated polynomials. It is shown that the well-known stability conditions can be special cases of the proposed stability conditions. Simulation examples are given to illustrate the validity of the proposed approach.

Enhancing the stabilization of aircraft pitch motion control via intelligent and classical method

NASA Astrophysics Data System (ADS)

Lukman, H.; Munawwarah, S.; Azizan, A.; Yakub, F.; Zaki, S. A.; Rasid, Z. A.

2017-12-01

The pitching movement of an aircraft is very important to ensure passengers are intrinsically safe and the aircraft achieve its maximum stability. The equations governing the motion of an aircraft are a complex set of six nonlinear coupled differential equations. Under certain assumptions, it can be decoupled and linearized into longitudinal and lateral equations. Pitch control is a longitudinal problem and thus, only the longitudinal dynamics equations are involved in this system. It is a third order nonlinear system, which is linearized about the operating point. The system is also inherently unstable due to the presence of a free integrator. Because of this, a feedback controller is added in order to solve this problem and enhance the system performance. This study uses two approaches in designing controller: a conventional controller and an intelligent controller. The pitch control scheme consists of proportional, integral and derivatives (PID) for conventional controller and fuzzy logic control (FLC) for intelligent controller. Throughout the paper, the performance of the presented controllers are investigated and compared based on the common criteria of step response. Simulation results have been obtained and analysed by using Matlab and Simulink software. The study shows that FLC controller has higher ability to control and stabilize the aircraft's pitch angle as compared to PID controller.

Elastic robot control - Nonlinear inversion and linear stabilization

NASA Technical Reports Server (NTRS)

Singh, S. N.; Schy, A. A.

1986-01-01

An approach to the control of elastic robot systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law u(d) is derived such that in the closed-loop system independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law u(s) is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u(d) + u(s).

Design verification and fabrication of active control systems for the DAST ARW-2 high aspect ratio wing, part 1

NASA Technical Reports Server (NTRS)

Mcgehee, C. R.

1986-01-01

A study was conducted under Drones for Aerodynamic and Structural Testing (DAST) program to accomplish the final design and hardware fabrication for four active control systems compatible with and ready for installation in the NASA Aeroelastic Research Wing No. 2 (ARW-2) and Firebee II drone flight test vehicle. The wing structure was designed so that Active Control Systems (ACS) are required in the normal flight envelope by integrating control system design with aerodynamics and structure technologies. The DAST ARW-2 configuration uses flutter suppression, relaxed static stability, and gust and maneuver load alleviation ACS systems, and an automatic flight control system. Performance goals and criteria were applied to individual systems and the systems collectively to assure that vehicle stability margins, flutter margins, flying qualities and load reductions are achieved.

Stabilizing skateboard speed-wobble with reflex delay.

PubMed

Varszegi, Balazs; Takacs, Denes; Stepan, Gabor; Hogan, S John

2016-08-01

A simple mechanical model of the skateboard-skater system is analysed, in which the effect of human control is considered by means of a linear proportional-derivative (PD) controller with delay. The equations of motion of this non-holonomic system are neutral delay-differential equations. A linear stability analysis of the rectilinear motion is carried out analytically. It is shown how to vary the control gains with respect to the speed of the skateboard to stabilize the uniform motion. The critical reflex delay of the skater is determined as the function of the speed. Based on this analysis, we present an explanation for the linear instability of the skateboard-skater system at high speed. Moreover, the advantages of standing ahead of the centre of the board are demonstrated from the viewpoint of reflex delay and control gain sensitivity. © 2016 The Author(s).

Stability and Bifurcation Analysis in a Maglev System with Multiple Delays

NASA Astrophysics Data System (ADS)

Zhang, Lingling; Huang, Jianhua; Huang, Lihong; Zhang, Zhizhou

This paper considers the time-delayed feedback control for Maglev system with two discrete time delays. We determine constraints on the feedback time delays which ensure the stability of the Maglev system. An algorithm is developed for drawing a two-parametric bifurcation diagram with respect to two delays τ1 and τ2. Direction and stability of periodic solutions are also determined using the normal form method and center manifold theory by Hassard. The complex dynamical behavior of the Maglev system near the domain of stability is confirmed by exhaustive numerical simulation.

Flight Test Results from the NF-15B Intelligent Flight Control System (IFCS) Project with Adaptation to a Simulated Stabilator Failure

NASA Technical Reports Server (NTRS)

Bosworth, John T.; Williams-Hayes, Peggy S.

2007-01-01

Adaptive flight control systems have the potential to be more resilient to extreme changes in airplane behavior. Extreme changes could be a result of a system failure or of damage to the airplane. A direct adaptive neural-network-based flight control system was developed for the National Aeronautics and Space Administration NF-15B Intelligent Flight Control System airplane and subjected to an inflight simulation of a failed (frozen) (unmovable) stabilator. Formation flight handling qualities evaluations were performed with and without neural network adaptation. The results of these flight tests are presented. Comparison with simulation predictions and analysis of the performance of the adaptation system are discussed. The performance of the adaptation system is assessed in terms of its ability to decouple the roll and pitch response and reestablish good onboard model tracking. Flight evaluation with the simulated stabilator failure and adaptation engaged showed that there was generally improvement in the pitch response; however, a tendency for roll pilot-induced oscillation was experienced. A detailed discussion of the cause of the mixed results is presented.

Flight Test Results from the NF-15B Intelligent Flight Control System (IFCS) Project with Adaptation to a Simulated Stabilator Failure

NASA Technical Reports Server (NTRS)

Bosworth, John T.; Williams-Hayes, Peggy S.

2010-01-01

Adaptive flight control systems have the potential to be more resilient to extreme changes in airplane behavior. Extreme changes could be a result of a system failure or of damage to the airplane. A direct adaptive neural-network-based flight control system was developed for the National Aeronautics and Space Administration NF-15B Intelligent Flight Control System airplane and subjected to an inflight simulation of a failed (frozen) (unmovable) stabilator. Formation flight handling qualities evaluations were performed with and without neural network adaptation. The results of these flight tests are presented. Comparison with simulation predictions and analysis of the performance of the adaptation system are discussed. The performance of the adaptation system is assessed in terms of its ability to decouple the roll and pitch response and reestablish good onboard model tracking. Flight evaluation with the simulated stabilator failure and adaptation engaged showed that there was generally improvement in the pitch response; however, a tendency for roll pilot-induced oscillation was experienced. A detailed discussion of the cause of the mixed results is presented.

A New Approach to Attitude Stability and Control for Low Airspeed Vehicles

NASA Technical Reports Server (NTRS)

Lim, K. B.; Shin, Y-Y.; Moerder, D. D.; Cooper, E. G.

2004-01-01

This paper describes an approach for controlling the attitude of statically unstable thrust-levitated vehicles in hover or slow translation. The large thrust vector that characterizes such vehicles can be modulated to provide control forces and moments to the airframe, but such modulation is accompanied by significant unsteady flow effects. These effects are difficult to model, and can compromise the practical value of thrust vectoring in closed-loop attitude stability, even if the thrust vectoring machinery has sufficient bandwidth for stabilization. The stabilization approach described in this paper is based on using internal angular momentum transfer devices for stability, augmented by thrust vectoring for trim and other "outer loop" control functions. The three main components of this approach are: (1) a z-body axis angular momentum bias enhances static attitude stability, reducing the amount of control activity needed for stabilization, (2) optionally, gimbaled reaction wheels provide high-bandwidth control torques for additional stabilization, or agility, and (3) the resulting strongly coupled system dynamics are controlled by a multivariable controller. A flight test vehicle is described, and nonlinear simulation results are provided that demonstrate the efficiency of the approach.

Design of Launch Vehicle Flight Control Augmentors and Resulting Flight Stability and Control (Center Director's Discretionary Fund Project 93-05, Part III)

NASA Technical Reports Server (NTRS)

Barret, C.

1997-01-01

This publication presents the control requirements, the details of the designed Flight Control Augmentor's (FCA's), the static stability and dynamic stability wind tunnel test programs, the static stability and control analyses, the dynamic stability characteristics of the experimental Launch Vehicle (LV) with the designed FCA's, and a consideration of the elastic vehicle. Dramatic improvements in flight stability have been realized with all the FCA designs; these ranged from 41 percent to 72 percent achieved by the blunt TE design. The control analysis showed that control increased 110 percent with only 3 degrees of FCA deflection. The dynamic stability results showed improvements with all FCA designs tested at all Mach numbers tested. The blunt TE FCA's had the best overall dynamic stability results. Since the lowest elastic vehicle frequency must be well separated from that of the control system, the significant frequencies and modes of vibration have been identified, and the response spectra compared for the experimental LV in both the conventional and the aft cg configuration. Although the dynamic response was 150 percent greater in the aft cg configuration, the lowest bending mode frequency decreased by only 2.8 percent.

Ultimate boundedness stability and controllability of hereditary systems

NASA Technical Reports Server (NTRS)

Chukwu, E. N.

1979-01-01

By generalizing the Liapunov-Yoshizawa techniques, necessary and sufficient conditions are given for uniform boundedness and uniform ultimate boundedness of a rather general class of nonlinear differential equations of neutral type. Among the applications treated by the methods are the Lienard equation of neutral type and hereditary systems of Lurie type. The absolute stability of this later equation is also investigated. A certain existence result of a solution of a neutral functional differential inclusion with two point boundary values is applied to study the exact function space controllability of a nonlinear neutral functional differential control system. A geometric growth condition is used to characterize both the function space and Euclidean controllability of another nonlinear delay system which has a compact and convex control set. This yields conditions under which perturbed nonlinear delay controllable systems are controllable.

Design concepts using ring lasers for frequency stabilization

NASA Technical Reports Server (NTRS)

Mocker, H.

1967-01-01

Laser frequency stabilization methods are based on a frequency discriminant which generates an unambiguous deviation signal used for automatic stabilization. Closed-loop control stabilizes cavity length at a null point. Some systems have a stabilized ring laser using a piezoelectric dither and others use a Doppler gain tube.

Robustness and cognition in stabilization problem of dynamical systems based on asymptotic methods

NASA Astrophysics Data System (ADS)

Dubovik, S. A.; Kabanov, A. A.

2017-01-01

The problem of synthesis of stabilizing systems based on principles of cognitive (logical-dynamic) control for mobile objects used under uncertain conditions is considered. This direction in control theory is based on the principles of guaranteeing robust synthesis focused on worst-case scenarios of the controlled process. The guaranteeing approach is able to provide functioning of the system with the required quality and reliability only at sufficiently low disturbances and in the absence of large deviations from some regular features of the controlled process. The main tool for the analysis of large deviations and prediction of critical states here is the action functional. After the forecast is built, the choice of anti-crisis control is the supervisory control problem that optimizes the control system in a normal mode and prevents escape of the controlled process in critical states. An essential aspect of the approach presented here is the presence of a two-level (logical-dynamic) control: the input data are used not only for generating of synthesized feedback (local robust synthesis) in advance (off-line), but also to make decisions about the current (on-line) quality of stabilization in the global sense. An example of using the presented approach for the problem of development of the ship tilting prediction system is considered.

Finite-time stabilization of uncertain nonholonomic systems in feedforward-like form by output feedback.

PubMed

Gao, Fangzheng; Wu, Yuqiang; Zhang, Zhongcai

2015-11-01

This paper investigates the problem of finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. Comparing with the existing relevant literature, a distinguishing feature of the systems under investigation is that the x-subsystem is a feedforward-like rather than feedback-like system. This renders the existing control methods inapplicable to the control problems of the systems. A constructive design procedure for output feedback control is given. The designed controller renders that the states of closed-loop system are regulated to zero in a finite time. Two simulation examples are provided to illustrate the effectiveness of the proposed approach. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

New image-stabilizing system

NASA Astrophysics Data System (ADS)

Zhao, Yuejin

1996-06-01

In this paper, a new method for image stabilization with a three-axis image- stabilizing reflecting prism assembly is presented, and the principle of image stabilization in this prism assembly, formulae for image stabilization and working formulae with an approximation up to the third power are given in detail. In this image-stabilizing system, a single chip microcomputer is used to calculate value of compensating angles and thus to control the prism assembly. Two gyroscopes act as sensors from which information of angular perturbation is obtained, three stepping motors drive the prism assembly to compensate for the movement of image produced by angular perturbation. The image-stabilizing device so established is a multifold system which involves optics, mechanics, electronics and computer.

Lateral stability and control derivatives extracted from space shuttle Challenger flight data

NASA Technical Reports Server (NTRS)

Schiess, James R.

1988-01-01

Flight data taken from six flights of the Space Transportation System shuttle Challenger (STS-6, 7, 8, 11, 13 and 17) during atmospheric entry are analyzed to determine the shuttle lateral aerodynamic characteristics. Maximum likelihood estimation is applied to data derived from accelerometer and rate gyro measurements and trajectory, meteorological and control surface data to estimate lateral-directional stability and control derivatives. The vehicle stability and control surface effectiveness are compared across the flights and to preflight predicted values.

Resource Allocation and Cross Layer Control in Wireless Networks

DTIC Science & Technology

2006-08-25

arrival rates lies within the capacity region of the network. The notion of controlling the system to maximize its stability region and the following...optimization problem (4.5) that must be solved at the beginning of 48 Dynamic Control for Network Stability each time slot requires in general knowledge...Dynamic Control for Network Stability ~ (c) ab (t) those of any other feasible algorithm, then for any time t 0; X ic U (c) i (t) "X b ~ (c) ab (t) X

Apollo experience report: Guidance and control systems. Lunar module stabilization and control system

NASA Technical Reports Server (NTRS)

Shelton, D. H.

1975-01-01

A brief functional description of the Apollo lunar module stabilization and control subsystem is presented. Subsystem requirements definition, design, development, test results, and flight experiences are discussed. Detailed discussions are presented of problems encountered and the resulting corrective actions taken during the course of assembly-level testing, integrated vehicle checkout and test, and mission operations. Although the main experiences described are problem oriented, the subsystem has performed satisfactorily in flight.

Active and passive stabilization of body pitch in insect flight

PubMed Central

Ristroph, Leif; Ristroph, Gunnar; Morozova, Svetlana; Bergou, Attila J.; Chang, Song; Guckenheimer, John; Wang, Z. Jane; Cohen, Itai

2013-01-01

Flying insects have evolved sophisticated sensory–motor systems, and here we argue that such systems are used to keep upright against intrinsic flight instabilities. We describe a theory that predicts the instability growth rate in body pitch from flapping-wing aerodynamics and reveals two ways of achieving balanced flight: active control with sufficiently rapid reactions and passive stabilization with high body drag. By glueing magnets to fruit flies and perturbing their flight using magnetic impulses, we show that these insects employ active control that is indeed fast relative to the instability. Moreover, we find that fruit flies with their control sensors disabled can keep upright if high-drag fibres are also attached to their bodies, an observation consistent with our prediction for the passive stability condition. Finally, we extend this framework to unify the control strategies used by hovering animals and also furnish criteria for achieving pitch stability in flapping-wing robots. PMID:23697713

Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2017-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and [Formula: see text] robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and H2 robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:28959117

Control of large space structures

NASA Technical Reports Server (NTRS)

Gran, R.; Rossi, M.; Moyer, H. G.; Austin, F.

1979-01-01

The control of large space structures was studied to determine what, if any, limitations are imposed on the size of spacecraft which may be controlled using current control system design technology. Using a typical structure in the 35 to 70 meter size category, a control system design that used actuators that are currently available was designed. The amount of control power required to maintain the vehicle in a stabilized gravity gradient pointing orientation that also damped various structural motions was determined. The moment of inertia and mass properties of this structure were varied to verify that stability and performance were maintained. The study concludes that the structure's size is required to change by at least a factor of two before any stability problems arise. The stability margin that is lost is due to the scaling of the gravity gradient torques (the rigid body control) and as such can easily be corrected by changing the control gains associated with the rigid body control. A secondary conclusion from the study is that the control design that accommodates the structural motions (to damp them) is a little more sensitive than the design that works on attitude control of the rigid body only.

Stability of the human respiratory control system. I. Analysis of a two-dimensional delay state-space model.

PubMed

Batzel, J J; Tran, H T

2000-07-01

A number of mathematical models of the human respiratory control system have been developed since 1940 to study a wide range of features of this complex system. Among them, periodic breathing (including Cheyne-Stokes respiration and apneustic breathing) is a collection of regular but involuntary breathing patterns that have important medical implications. The hypothesis that periodic breathing is the result of delay in the feedback signals to the respiratory control system has been studied since the work of Grodins et al. in the early 1950's [12]. The purpose of this paper is to study the stability characteristics of a feedback control system of five differential equations with delays in both the state and control variables presented by Khoo et al. [17] in 1991 for modeling human respiration. The paper is divided in two parts. Part I studies a simplified mathematical model of two nonlinear state equations modeling arterial partial pressures of O2 and CO2 and a peripheral controller. Analysis was done on this model to illuminate the effect of delay on the stability. It shows that delay dependent stability is affected by the controller gain, compartmental volumes and the manner in which changes in the ventilation rate is produced (i.e., by deeper breathing or faster breathing). In addition, numerical simulations were performed to validate analytical results. Part II extends the model in Part I to include both peripheral and central controllers. This, however, necessitates the introduction of a third state equation modeling CO2 levels in the brain. In addition to analytical studies on delay dependent stability, it shows that the decreased cardiac output (and hence increased delay) resulting from the congestive heart condition can induce instability at certain control gain levels. These analytical results were also confirmed by numerical simulations.

Stability of the human respiratory control system. II. Analysis of a three-dimensional delay state-space model.

PubMed

Batzel, J J; Tran, H T

2000-07-01

A number of mathematical models of the human respiratory control system have been developed since 1940 to study a wide range of features of this complex system. Among them, periodic breathing (including Cheyne-Stokes respiration and apneustic breathing) is a collection of regular but involuntary breathing patterns that have important medical implications. The hypothesis that periodic breathing is the result of delay in the feedback signals to the respiratory control system has been studied since the work of Grodins et al. in the early 1950's [1]. The purpose of this paper is to study the stability characteristics of a feedback control system of five differential equations with delays in both the state and control variables presented by Khoo et al. [4] in 1991 for modeling human respiration. The paper is divided in two parts. Part I studies a simplified mathematical model of two nonlinear state equations modeling arterial partial pressures of O2 and CO2 and a peripheral controller. Analysis was done on this model to illuminate the effect of delay on the stability. It shows that delay dependent stability is affected by the controller gain, compartmental volumes and the manner in which changes in the ventilation rate is produced (i.e., by deeper breathing or faster breathing). In addition, numerical simulations were performed to validate analytical results. Part II extends the model in Part I to include both peripheral and central controllers. This, however, necessitates the introduction of a third state equation modeling CO2 levels in the brain. In addition to analytical studies on delay dependent stability, it shows that the decreased cardiac output (and hence increased delay) resulting from the congestive heart condition can induce instability at certain control gain levels. These analytical results were also confirmed by numerical simulations.

Quasi-minimal active disturbance rejection control of MIMO perturbed linear systems based on differential neural networks and the attractive ellipsoid method.

PubMed

Salgado, Iván; Mera-Hernández, Manuel; Chairez, Isaac

2017-11-01

This study addresses the problem of designing an output-based controller to stabilize multi-input multi-output (MIMO) systems in the presence of parametric disturbances as well as uncertainties in the state model and output noise measurements. The controller design includes a linear state transformation which separates uncertainties matched to the control input and the unmatched ones. A differential neural network (DNN) observer produces a nonlinear approximation of the matched perturbation and the unknown states simultaneously in the transformed coordinates. This study proposes the use of the Attractive Ellipsoid Method (AEM) to optimize the gains of the controller and the gain observer in the DNN structure. As a consequence, the obtained control input minimizes the convergence zone for the estimation error. Moreover, the control design uses the estimated disturbance provided by the DNN to obtain a better performance in the stabilization task in comparison with a quasi-minimal output feedback controller based on a Luenberger observer and a sliding mode controller. Numerical results pointed out the advantages obtained by the nonlinear control based on the DNN observer. The first example deals with the stabilization of an academic linear MIMO perturbed system and the second example stabilizes the trajectories of a DC-motor into a predefined operation point. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive Event-Triggered Control Based on Heuristic Dynamic Programming for Nonlinear Discrete-Time Systems.

PubMed

Dong, Lu; Zhong, Xiangnan; Sun, Changyin; He, Haibo

2017-07-01

This paper presents the design of a novel adaptive event-triggered control method based on the heuristic dynamic programming (HDP) technique for nonlinear discrete-time systems with unknown system dynamics. In the proposed method, the control law is only updated when the event-triggered condition is violated. Compared with the periodic updates in the traditional adaptive dynamic programming (ADP) control, the proposed method can reduce the computation and transmission cost. An actor-critic framework is used to learn the optimal event-triggered control law and the value function. Furthermore, a model network is designed to estimate the system state vector. The main contribution of this paper is to design a new trigger threshold for discrete-time systems. A detailed Lyapunov stability analysis shows that our proposed event-triggered controller can asymptotically stabilize the discrete-time systems. Finally, we test our method on two different discrete-time systems, and the simulation results are included.

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

NASA Technical Reports Server (NTRS)

Sarkar, Nilanjan; Yun, Xiaoping; Kumar, Vijay

1994-01-01

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

Application of control theory to dynamic systems simulation

NASA Technical Reports Server (NTRS)

Auslander, D. M.; Spear, R. C.; Young, G. E.

1982-01-01

The application of control theory is applied to dynamic systems simulation. Theory and methodology applicable to controlled ecological life support systems are considered. Spatial effects on system stability, design of control systems with uncertain parameters, and an interactive computing language (PARASOL-II) designed for dynamic system simulation, report quality graphics, data acquisition, and simple real time control are discussed.

Stabilization and analytical tuning rule of double-loop control scheme for unstable dead-time process

NASA Astrophysics Data System (ADS)

Ugon, B.; Nandong, J.; Zang, Z.

2017-06-01

The presence of unstable dead-time systems in process plants often leads to a daunting challenge in the design of standard PID controllers, which are not only intended to provide close-loop stability but also to give good performance-robustness overall. In this paper, we conduct stability analysis on a double-loop control scheme based on the Routh-Hurwitz stability criteria. We propose to use this unstable double-loop control scheme which employs two P/PID controllers to control first-order or second-order unstable dead-time processes typically found in process industries. Based on the Routh-Hurwitz stability necessary and sufficient criteria, we establish several stability regions which enclose within them the P/PID parameter values that guarantee close-loop stability of the double-loop control scheme. A systematic tuning rule is developed for the purpose of obtaining the optimal P/PID parameter values within the established regions. The effectiveness of the proposed tuning rule is demonstrated using several numerical examples and the result are compared with some well-established tuning methods reported in the literature.

Output Feedback Stabilization for a Class of Multi-Variable Bilinear Stochastic Systems with Stochastic Coupling Attenuation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhang, Qichun; Zhou, Jinglin; Wang, Hong

In this paper, stochastic coupling attenuation is investigated for a class of multi-variable bilinear stochastic systems and a novel output feedback m-block backstepping controller with linear estimator is designed, where gradient descent optimization is used to tune the design parameters of the controller. It has been shown that the trajectories of the closed-loop stochastic systems are bounded in probability sense and the stochastic coupling of the system outputs can be effectively attenuated by the proposed control algorithm. Moreover, the stability of the stochastic systems is analyzed and the effectiveness of the proposed method has been demonstrated using a simulated example.

A time delay controller for magnetic bearings

NASA Technical Reports Server (NTRS)

Youcef-Toumi, K.; Reddy, S.

1991-01-01

The control of systems with unknown dynamics and unpredictable disturbances has raised some challenging problems. This is particularly important when high system performance needs to be guaranteed at all times. Recently, the Time Delay Control has been suggested as an alternative control scheme. The proposed control system does not require an explicit plant model nor does it depend on the estimation of specific plant parameters. Rather, it combines adaptation with past observations to directly estimate the effect of the plant dynamics. A control law is formulated for a class of dynamic systems and a sufficient condition is presented for control systems stability. The derivation is based on the bounded input-bounded output stability approach using L sub infinity function norms. The control scheme is implemented on a five degrees of freedom high speed and high precision magnetic bearing. The control performance is evaluated using step responses, frequency responses, and disturbance rejection properties. The experimental data show an excellent control performance despite the system complexity.

Digital control analysis and design of a field-sensed magnetic suspension system.

PubMed

Li, Jen-Hsing; Chiou, Juing-Shian

2015-03-13

Magnetic suspension systems are mechatronic systems and crucial in several engineering applications, such as the levitation of high-speed trains, frictionless bearings, and wind tunnels. Magnetic suspension systems are nonlinear and unstable systems; therefore, they are suitable educational benchmarks for testing various modeling and control methods. This paper presents the digital modeling and control of magnetic suspension systems. First, the magnetic suspension system is stabilized using a digital proportional-derivative controller. Subsequently, the digital model is identified using recursive algorithms. Finally, a digital mixed linear quadratic regulator (LQR)/H∞ control is adopted to stabilize the magnetic suspension system robustly. Simulation examples and a real-world example are provided to demonstrate the practicality of the study results. In this study, a digital magnetic suspension system model was developed and reviewed. In addition, equivalent state and output feedback controls for magnetic suspension systems were developed. Using this method, the controller design for magnetic suspension systems was simplified, which is the novel contribution of this study. In addition, this paper proposes a complete digital controller design procedure for magnetic suspension systems.

Robust Power Management Control for Stand-Alone Hybrid Power Generation System

NASA Astrophysics Data System (ADS)

Kamal, Elkhatib; Adouane, Lounis; Aitouche, Abdel; Mohammed, Walaa

2017-01-01

This paper presents a new robust fuzzy control of energy management strategy for the stand-alone hybrid power systems. It consists of two levels named centralized fuzzy supervisory control which generates the power references for each decentralized robust fuzzy control. Hybrid power systems comprises: a photovoltaic panel and wind turbine as renewable sources, a micro turbine generator and a battery storage system. The proposed control strategy is able to satisfy the load requirements based on a fuzzy supervisor controller and manage power flows between the different energy sources and the storage unit by respecting the state of charge and the variation of wind speed and irradiance. Centralized controller is designed based on If-Then fuzzy rules to manage and optimize the hybrid power system production by generating the reference power for photovoltaic panel and wind turbine. Decentralized controller is based on the Takagi-Sugeno fuzzy model and permits us to stabilize each photovoltaic panel and wind turbine in presence of disturbances and parametric uncertainties and to optimize the tracking reference which is given by the centralized controller level. The sufficient conditions stability are formulated in the format of linear matrix inequalities using the Lyapunov stability theory. The effectiveness of the proposed Strategy is finally demonstrated through a SAHPS (stand-alone hybrid power systems) to illustrate the effectiveness of the overall proposed method.

Practical To Tactical: Making the Case for a Shift in Ground Vehicle Robotics

DTIC Science & Technology

2012-05-10

with Driver Warning I C R M x x x V x UNCLASSIFIED 21 Electronic Brake System ( ELB ) w/ Electronic Stability Control (ESC) Electric Power Assist...System ( ELB ) w/ Electronic Stability Control (ESC) Electric Power Assist Steering Steering Position Sensor Steering Torque Sensor Transmission...Computer I C R M x x x V x x Wheel Speed Sensors ESC Accelerometer/Rate Gyro UNCLASSIFIED 23 Electronic Brake System ( ELB ) w/ Electronic

Real-Time Adaptive Control of a Magnetic Levitation System with a Large Range of Load Disturbance.

PubMed

Zhang, Zhizhou; Li, Xiaolong

2018-05-11

In an idle light-load or a full-load condition, the change of the load mass of a suspension system is very significant. If the control parameters of conventional control methods remain unchanged, the suspension performance of the control system deteriorates rapidly or even loses stability when the load mass changes in a large range. In this paper, a real-time adaptive control method for a magnetic levitation system with large range of mass changes is proposed. First, the suspension control system model of the maglev train is built up, and the stability of the closed-loop system is analyzed. Then, a fast inner current-loop is used to simplify the design of the suspension control system, and an adaptive control method is put forward to ensure that the system is still in a stable state when the load mass varies in a wide range. Simulations and experiments show that when the load mass of the maglev system varies greatly, the adaptive control method is effective to suspend the system stably with a given displacement.

Real-Time Adaptive Control of a Magnetic Levitation System with a Large Range of Load Disturbance

PubMed Central

Zhang, Zhizhou; Li, Xiaolong

2018-01-01

In an idle light-load or a full-load condition, the change of the load mass of a suspension system is very significant. If the control parameters of conventional control methods remain unchanged, the suspension performance of the control system deteriorates rapidly or even loses stability when the load mass changes in a large range. In this paper, a real-time adaptive control method for a magnetic levitation system with large range of mass changes is proposed. First, the suspension control system model of the maglev train is built up, and the stability of the closed-loop system is analyzed. Then, a fast inner current-loop is used to simplify the design of the suspension control system, and an adaptive control method is put forward to ensure that the system is still in a stable state when the load mass varies in a wide range. Simulations and experiments show that when the load mass of the maglev system varies greatly, the adaptive control method is effective to suspend the system stably with a given displacement. PMID:29751610

Theoretical study and control optimization of an integrated pest management predator-prey model with power growth rate.

PubMed

Sun, Kaibiao; Zhang, Tonghua; Tian, Yuan

2016-09-01

This work presents a pest control predator-prey model, where rate of change in prey density follows a scaling law with exponent less than one and the control is by an integrated management strategy. The aim is to investigate the change in system dynamics and determine a pest control level with minimum control price. First, the dynamics of the proposed model without control is investigated by taking the exponent as an index parameter. And then, to determine the frequency of spraying chemical pesticide and yield releases of the predator, the existence of the order-1 periodic orbit of the control system is discussed in cases. Furthermore, to ensure a certain robustness of the adopted control, i.e., for an inaccurately detected species density or a deviation, the control system could be stabilized at the order-1 periodic orbit, the stability of the order-1 periodic orbit is verified by an stability criterion for a general semi-continuous dynamical system. In addition, to minimize the total cost input in pest control, an optimization problem is formulated and the optimum pest control level is obtained. At last, the numerical simulations with a specific model are carried out to complement the theoretical results. Copyright © 2016 Elsevier Inc. All rights reserved.

Finite-time resilient decentralized control for interconnected impulsive switched systems with neutral delay.

PubMed

Ren, Hangli; Zong, Guangdeng; Hou, Linlin; Yang, Yi

2017-03-01

This paper is concerned with the problem of finite-time control for a class of interconnected impulsive switched systems with neutral delay in which the time-varying delay appears in both the state and the state derivative. The concepts of finite-time boundedness and finite-time stability are respectively extended to interconnected impulsive switched systems with neutral delay for the first time. By applying the average dwell time method, sufficient conditions are first derived to cope with the problem of finite-time boundedness and finite-time stability for interconnected impulsive switched systems with neutral delay. In addition, the purpose of finite-time resilient decentralized control is to construct a resilient decentralized state-feedback controller such that the closed-loop system is finite-time bounded and finite-time stable. All the conditions are formulated in terms of linear matrix inequalities to ensure finite-time boundedness and finite-time stability of the given system. Finally, an example is presented to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Design verification and fabrication of active control systems for the DAST ARW-2 high aspect ratio wing. Part 2: Appendices

NASA Technical Reports Server (NTRS)

Mcgehee, C. R.

1986-01-01

This is Part 2-Appendices of a study conducted under Drones for Aerodynamic and Structural Testing (DAST) Program to accomplish the final design and hardware fabrication for four active control systems compatible with and ready for installation in the NASA Aeroelastic Research Wing No. 2 (ARW-2) and Firebee II drone flight test vehicle. The wing structure was designed so that Active Control Systems (ACS) are required in the normal flight envelope by integrating control system design with aerodynamics and structure technologies. The DAST ARW-2 configuration uses flutter suppression, relaxed static stability, and gust and maneuver load alleviation ACS systems, and an automatic flight control system. Performance goals and criteria were applied to individual systems and the systems collectively to assure that vehicle stability margins, flutter margins, flying qualities, and load reductions were achieved.

Double closed-loop control of integrated optical resonance gyroscope with mean-square exponential stability.

PubMed

Li, Hui; Liu, Liying; Lin, Zhili; Wang, Qiwei; Wang, Xiao; Feng, Lishuang

2018-01-22

A new double closed-loop control system with mean-square exponential stability is firstly proposed to optimize the detection accuracy and dynamic response characteristic of the integrated optical resonance gyroscope (IORG). The influence mechanism of optical nonlinear effects on system detection sensitivity is investigated to optimize the demodulation gain, the maximum sensitivity and the linear work region of a gyro system. Especially, we analyze the effect of optical parameter fluctuation on the parameter uncertainty of system, and investigate the influence principle of laser locking-frequency noise on the closed-loop detection accuracy of angular velocity. The stochastic disturbance model of double closed-loop IORG is established that takes the unfavorable factors such as optical effect nonlinearity, disturbed disturbance, optical parameter fluctuation and unavoidable system noise into consideration. A robust control algorithm is also designed to guarantee the mean-square exponential stability of system with a prescribed H ∞ performance in order to improve the detection accuracy and dynamic performance of IORG. The conducted experiment results demonstrate that the IORG has a dynamic response time less than 76us, a long-term bias stability 7.04°/h with an integration time of 10s over one-hour test, and the corresponding bias stability 1.841°/h based on Allan deviation, which validate the effectiveness and usefulness of the proposed detection scheme.

Delay-feedback control strategy for reducing CO2 emission of traffic flow system

NASA Astrophysics Data System (ADS)

Zhang, Li-Dong; Zhu, Wen-Xing

2015-06-01

To study the signal control strategy for reducing traffic emission theoretically, we first presented a kind of discrete traffic flow model with relative speed term based on traditional coupled map car-following model. In the model, the relative speed difference between two successive running cars is incorporated into following vehicle's acceleration running equation. Then we analyzed its stability condition with discrete control system stability theory. Third, we designed a delay-feedback controller to suppress traffic jam and decrease traffic emission based on modern controller theory. Last, numerical simulations are made to support our theoretical results, including the comparison of models' stability analysis, the influence of model type and signal control on CO2 emissions. The results show that the temporal behavior of our model is superior to other models, and the traffic signal controller has good effect on traffic jam suppression and traffic CO2 emission, which fully supports the theoretical conclusions.

Control-based continuation: Bifurcation and stability analysis for physical experiments

NASA Astrophysics Data System (ADS)

Barton, David A. W.

2017-02-01

Control-based continuation is technique for tracking the solutions and bifurcations of nonlinear experiments. The idea is to apply the method of numerical continuation to a feedback-controlled physical experiment such that the control becomes non-invasive. Since in an experiment it is not (generally) possible to set the state of the system directly, the control target becomes a proxy for the state. Control-based continuation enables the systematic investigation of the bifurcation structure of a physical system, much like if it was numerical model. However, stability information (and hence bifurcation detection and classification) is not readily available due to the presence of stabilising feedback control. This paper uses a periodic auto-regressive model with exogenous inputs (ARX) to approximate the time-varying linearisation of the experiment around a particular periodic orbit, thus providing the missing stability information. This method is demonstrated using a physical nonlinear tuned mass damper.

Attitude output feedback control for rigid spacecraft with finite-time convergence.

PubMed

Hu, Qinglei; Niu, Guanglin

2017-09-01

The main problem addressed is the quaternion-based attitude stabilization control of rigid spacecraft without angular velocity measurements in the presence of external disturbances and reaction wheel friction as well. As a stepping stone, an angular velocity observer is proposed for the attitude control of a rigid body in the absence of angular velocity measurements. The observer design ensures finite-time convergence of angular velocity state estimation errors irrespective of the control torque or the initial attitude state of the spacecraft. Then, a novel finite-time control law is employed as the controller in which the estimate of the angular velocity is used directly. It is then shown that the observer and the controlled system form a cascaded structure, which allows the application of the finite-time stability theory of cascaded systems to prove the finite-time stability of the closed-loop system. A rigorous analysis of the proposed formulation is provided and numerical simulation studies are presented to help illustrate the effectiveness of the angular-velocity observer for rigid spacecraft attitude control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Stability analysis of piecewise non-linear systems and its application to chaotic synchronisation with intermittent control

NASA Astrophysics Data System (ADS)

Wang, Qingzhi; Tan, Guanzheng; He, Yong; Wu, Min

2017-10-01

This paper considers a stability analysis issue of piecewise non-linear systems and applies it to intermittent synchronisation of chaotic systems. First, based on piecewise Lyapunov function methods, more general and less conservative stability criteria of piecewise non-linear systems in periodic and aperiodic cases are presented, respectively. Next, intermittent synchronisation conditions of chaotic systems are derived which extend existing results. Finally, Chua's circuit is taken as an example to verify the validity of our methods.

Small Body GN&C Research Report: A Robust Model Predictive Control Algorithm with Guaranteed Resolvability

NASA Technical Reports Server (NTRS)

Acikmese, Behcet A.; Carson, John M., III

2005-01-01

A robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems is developed that guarantees the resolvability of the associated finite-horizon optimal control problem in a receding-horizon implementation. The control consists of two components; (i) feedforward, and (ii) feedback part. Feed-forward control is obtained by online solution of a finite-horizon optimal control problem for the nominal system dynamics. The feedback control policy is designed off-line based on a bound on the uncertainty in the system model. The entire controller is shown to be robustly stabilizing with a region of attraction composed of initial states for which the finite-horizon optimal control problem is feasible. The controller design for this algorithm is demonstrated on a class of systems with uncertain nonlinear terms that have norm-bounded derivatives, and derivatives in polytopes. An illustrative numerical example is also provided.

Adaptive optimal stochastic state feedback control of resistive wall modes in tokamaks

NASA Astrophysics Data System (ADS)

Sun, Z.; Sen, A. K.; Longman, R. W.

2006-01-01

An adaptive optimal stochastic state feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The extended least-square method with exponential forgetting factor and covariance resetting is used to identify (experimentally determine) the time-varying stochastic system model. A Kalman filter is used to estimate the system states. The estimated system states are passed on to an optimal state feedback controller to construct control inputs. The Kalman filter and the optimal state feedback controller are periodically redesigned online based on the identified system model. This adaptive controller can stabilize the time-dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly four times the inverse of the growth rate for the time-invariant model used.

Adaptive Optimal Stochastic State Feedback Control of Resistive Wall Modes in Tokamaks

NASA Astrophysics Data System (ADS)

Sun, Z.; Sen, A. K.; Longman, R. W.

2007-06-01

An adaptive optimal stochastic state feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The extended least square method with exponential forgetting factor and covariance resetting is used to identify the time-varying stochastic system model. A Kalman filter is used to estimate the system states. The estimated system states are passed on to an optimal state feedback controller to construct control inputs. The Kalman filter and the optimal state feedback controller are periodically redesigned online based on the identified system model. This adaptive controller can stabilize the time dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly four times the inverse of the growth rate for the time-invariant model used.

Air-to-Air Supersonic Pilotless Aircraft

DTIC Science & Technology

1947-02-06

time of the mleelle to guidance data during the seek- ing phaee should be of the order of 0.1 second or less. Control system and angular stability ...it may be advisable to make the seeker smoothing time as short as practicable and effeet the necessary smoothing in the missile control system ...lioll stabilization thus Infers thtit, ideally, in the case of a cruciform missile that the axis of one pair of control surfaces remains at all times

Impacts of P-f & Q-V Droop Control on MicroGrids Transient Stability

NASA Astrophysics Data System (ADS)

Zhao-xia, Xiao; Hong-wei, Fang

Impacts of P-f & Q-V droop control on MicroGrid transient stability was investigated with a wind unit of asynchronous generator in the MicroGrid. The system frequency stability was explored when the motor load starts and its load power changes, and faults of different types and different locations occurs. The simulations were done by PSCAD/EMTDC.

Results From F-18B Stability and Control Parameter Estimation Flight Tests at High Dynamic Pressures

NASA Technical Reports Server (NTRS)

Moes, Timothy R.; Noffz, Gregory K.; Iliff, Kenneth W.

2000-01-01

A maximum-likelihood output-error parameter estimation technique has been used to obtain stability and control derivatives for the NASA F-18B Systems Research Aircraft. This work has been performed to support flight testing of the active aeroelastic wing (AAW) F-18A project. The goal of this research is to obtain baseline F-18 stability and control derivatives that will form the foundation of the aerodynamic model for the AAW aircraft configuration. Flight data have been obtained at Mach numbers between 0.85 and 1.30 and at dynamic pressures ranging between 600 and 1500 lbf/sq ft. At each test condition, longitudinal and lateral-directional doublets have been performed using an automated onboard excitation system. The doublet maneuver consists of a series of single-surface inputs so that individual control-surface motions cannot be correlated with other control-surface motions. Flight test results have shown that several stability and control derivatives are significantly different than prescribed by the F-18B aerodynamic model. This report defines the parameter estimation technique used, presents stability and control derivative results, compares the results with predictions based on the current F-18B aerodynamic model, and shows improvements to the nonlinear simulation using updated derivatives from this research.

Science observations with the IUE using the one-gyro mode

NASA Technical Reports Server (NTRS)

Imhoff, C.; Pitts, R.; Arquilla, R.; Shrader, Chris R.; Perez, M. R.; Webb, J.

1990-01-01

The International Ultraviolet Explorer (IUE) attitude control system originally included an inertial reference package containing six gyroscopes for three axis stabilization. The science instrument includes a prime and redundant Field Error Sensor (FES) camera for target acquisition and offset guiding. Since launch, four of the six gyroscopes have failed. The current attitude control system utilizes the remaining two gyros and a Fine Sun Sensor (FSS) for three axis stabilization. When the next gyro fails, a new attitude control system will be uplinked which will rely on the remaining gyro and the FSS for general three axis stabilization. In addition to the FSS, the FES cameras will be required to assist in maintaining fine attitude control during target acquisition. This has required thoroughly determining the characteristics of the FES cameras and the spectrograph aperture plate as well as devising new target acquisition procedures. The results of this work are presented.

Science observations with the IUE using the one-gyro mode

NASA Technical Reports Server (NTRS)

Imhoff, C.; Pitts, R.; Arquilla, R.; Shrader, C.; Perez, M.; Webb, J.

1990-01-01

The International Ultraviolet Explorer (IUE) attitude control system originally included an inertial reference package containing six gyroscopes for three axis stabilization. The science instrument includes a prime and redundant Field Error Sensor (FES) camera for target acquisition and offset guiding. Since launch, four of the six gyroscopes have failed. The current attitude control system utilizes the remaining two gyros and a Fine Sun Sensor (FSS) for three axis stabilization. When the next gyro fails, a new attitude control system will be uplinked, which will relay on the remaining gyro and the FSS for general three axis stabilization. In addition to the FSS, the FES cameras will be required to assist in maintaining fine attitude control during target acquisition. This has required thoroughly determining the characteristics of the FES cameras and the spectrograph aperture plate as well as devising new target acquisition procedures. The results of this work are presented.

An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network

NASA Astrophysics Data System (ADS)

ul Amin, Rooh; Aijun, Li; Khan, Muhammad Umer; Shamshirband, Shahaboddin; Kamsin, Amirrudin

2017-01-01

In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme.

Inherent robustness of discrete-time adaptive control systems

NASA Technical Reports Server (NTRS)

Ma, C. C. H.

1986-01-01

Global stability robustness with respect to unmodeled dynamics, arbitrary bounded internal noise, as well as external disturbance is shown to exist for a class of discrete-time adaptive control systems when the regressor vectors of these systems are persistently exciting. Although fast adaptation is definitely undesirable, so far as attaining the greatest amount of global stability robustness is concerned, slow adaptation is shown to be not necessarily beneficial. The entire analysis in this paper holds for systems with slowly varying return difference matrices; the plants in these systems need not be slowly varying.

Intermittent control with ankle, hip, and mixed strategies during quiet standing: a theoretical proposal based on a double inverted pendulum model.

PubMed

Suzuki, Yasuyuki; Nomura, Taishin; Casadio, Maura; Morasso, Pietro

2012-10-07

Human upright posture, as a mechanical system, is characterized by an instability of saddle type, involving both stable and unstable dynamic modes. The brain stabilizes such system by generating active joint torques, according to a time-delayed neural feedback control. What is still unsolved is a clear understanding of the control strategies and the control mechanisms that are used by the central nervous system in order to stabilize the unstable posture in a robust way while maintaining flexibility. Most studies in this direction have been limited to the single inverted pendulum model, which is useful for formalizing fundamental mechanical aspects but insufficient for addressing more general issues concerning neural control strategies. Here we consider a double inverted pendulum model in the sagittal plane with small passive viscoelasticity at the ankle and hip joints. Despite difficulties in stabilizing the double pendulum model in the presence of the large feedback delay, we show that robust and flexible stabilization of the upright posture can be established by an intermittent control mechanism that achieves the goal of stabilizing the body posture according to a "divide and conquer strategy", which switches among different controllers in different parts of the state space of the double inverted pendulum. Remarkably, it is shown that a global, robust stability is achieved even if the individual controllers are unstable and the information exploited for switching from one controller to another is severely delayed, as it happens in biological reality. Moreover, the intermittent controller can automatically resolve coordination among multiple active torques associated with the muscle synergy, leading to the emergence of distinct temporally coordinated active torque patterns, referred to as the intermittent ankle, hip, and mixed strategies during quiet standing, depending on the passive elasticity at the hip joint. Copyright © 2012 Elsevier Ltd. All rights reserved.

Three-axis stabilization of spacecraft using parameter-independent nonlinear quaternion feedback

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.; Kelkar, Atul G.

1994-01-01

This paper considers the problem of rigid spacecraft. A nonlinear control law which uses the feedback of the unit quaternion and the measured angular velocities is proposed and is shown to provide global asymptotic stability. The control law does not require the knowledge of the system parameters, and is therefore robust to modeling errors. The significance of the control law is that it can be used for large-angle maneuvers with guaranteed stability.

Realizable optimal control for a remotely piloted research vehicle. [stability augmentation

NASA Technical Reports Server (NTRS)

Dunn, H. J.

1980-01-01

The design of a control system using the linear-quadratic regulator (LQR) control law theory for time invariant systems in conjunction with an incremental gradient procedure is presented. The incremental gradient technique reduces the full-state feedback controller design, generated by the LQR algorithm, to a realizable design. With a realizable controller, the feedback gains are based only on the available system outputs instead of being based on the full-state outputs. The design is for a remotely piloted research vehicle (RPRV) stability augmentation system. The design includes methods for accounting for noisy measurements, discrete controls with zero-order-hold outputs, and computational delay errors. Results from simulation studies of the response of the RPRV to a step in the elevator and frequency analysis techniques are included to illustrate these abnormalities and their influence on the controller design.

Aperiodic Robust Model Predictive Control for Constrained Continuous-Time Nonlinear Systems: An Event-Triggered Approach.

PubMed

Liu, Changxin; Gao, Jian; Li, Huiping; Xu, Demin

2018-05-01

The event-triggered control is a promising solution to cyber-physical systems, such as networked control systems, multiagent systems, and large-scale intelligent systems. In this paper, we propose an event-triggered model predictive control (MPC) scheme for constrained continuous-time nonlinear systems with bounded disturbances. First, a time-varying tightened state constraint is computed to achieve robust constraint satisfaction, and an event-triggered scheduling strategy is designed in the framework of dual-mode MPC. Second, the sufficient conditions for ensuring feasibility and closed-loop robust stability are developed, respectively. We show that robust stability can be ensured and communication load can be reduced with the proposed MPC algorithm. Finally, numerical simulations and comparison studies are performed to verify the theoretical results.

Investigating Strategies to Increase Persistence and Success Rates among Anatomy & Physiology Students: A Case Study at Austin Community College District

NASA Astrophysics Data System (ADS)

Vedartham, Padmaja B.

Snap-through buckling provides an intricate force-displacement relationship for study. With the possibility for multiple limit points and pitchfork bifurcations and large regions of instability, experimental validation of numerical analysis can become difficult. This requires stabilization of unstable static equilibria, for which limited prior research exists. For all but the simplest cases, more than one actuator is needed, increasing the complexity of the experiment to the point of intractability without a control system. In this thesis, the necessary conditions for stabilization of a buckled beam with pinned boundaries under transverse loading were determined. By combining various nonlinear solution methods, a control system was created that could stabilize any branch of the force-displacement response. Experimental traversal of an unstable branch are presented along with other unstable static equilibrium configurations. The control system had numerical limitations, losing convergence near singular points. The groundwork for experimental stabilization was validated and demonstrated.

PID position regulation in one-degree-of-freedom Euler-Lagrange systems actuated by a PMSM

NASA Astrophysics Data System (ADS)

Verastegui-Galván, J.; Hernández-Guzmán, V. M.; Orrante-Sakanassi, J.

2018-02-01

This paper is concerned with position regulation in one-degree-of-freedom Euler-Lagrange Systems. We consider that the mechanical subsystem is actuated by a permanent magnet synchronous motor (PMSM). Our proposal consists of a Proportional-Integral-Derivative (PID) controller for the mechanical subsystem and a slight variation of field oriented control for the PMSM. We take into account the motor electric dynamics during the stability analysis. We present, for the first time, a global asymptotic stability proof for such a control scheme without requiring the mechanical subsystem to naturally possess viscous friction. Finally, as a corollary of our main result we prove global asymptotic stability for output feedback PID regulation of one-degree-of-freedom Euler-Lagrange systems when generated torque is considered as the system input, i.e. when the electric dynamics of PMSM's is not taken into account.

Real time hardware implementation of power converters for grid integration of distributed generation and STATCOM systems

NASA Astrophysics Data System (ADS)

Jaithwa, Ishan

Deployment of smart grid technologies is accelerating. Smart grid enables bidirectional flows of energy and energy-related communications. The future electricity grid will look very different from today's power system. Large variable renewable energy sources will provide a greater portion of electricity, small DERs and energy storage systems will become more common, and utilities will operate many different kinds of energy efficiency. All of these changes will add complexity to the grid and require operators to be able to respond to fast dynamic changes to maintain system stability and security. This thesis investigates advanced control technology for grid integration of renewable energy sources and STATCOM systems by verifying them on real time hardware experiments using two different systems: d SPACE and OPAL RT. Three controls: conventional, direct vector control and the intelligent Neural network control were first simulated using Matlab to check the stability and safety of the system and were then implemented on real time hardware using the d SPACE and OPAL RT systems. The thesis then shows how dynamic-programming (DP) methods employed to train the neural networks are better than any other controllers where, an optimal control strategy is developed to ensure effective power delivery and to improve system stability. Through real time hardware implementation it is proved that the neural vector control approach produces the fastest response time, low overshoot, and, the best performance compared to the conventional standard vector control method and DCC vector control technique. Finally the entrepreneurial approach taken to drive the technologies from the lab to market via ORANGE ELECTRIC is discussed in brief.

A Novel Switching-Based Control Framework for Improved Task Performance in Teleoperation System With Asymmetric Time-Varying Delays.

PubMed

Zhai, Di-Hua; Xia, Yuanqing

2018-02-01

This paper addresses the adaptive control for task-space teleoperation systems with constrained predefined synchronization error, where a novel switched control framework is investigated. Based on multiple Lyapunov-Krasovskii functionals method, the stability of the resulting closed-loop system is established in the sense of state-independent input-to-output stability. Compared with previous work, the developed method can simultaneously handle the unknown kinematics/dynamics, asymmetric varying time delays, and prescribed performance control in a unified framework. It is shown that the developed controller can guarantee the prescribed transient-state and steady-state synchronization performances between the master and slave robots, which is demonstrated by the simulation study.

The effect of a haptic biofeedback system on postural control in patients with stroke: An experimental pilot study.

PubMed

Yasuda, Kazuhiro; Kaibuki, Naomi; Harashima, Hiroaki; Iwata, Hiroyasu

2017-06-01

Impaired balance in patients with hemiparesis caused by stroke is frequently related to deficits in the central integration of afferent inputs, and traditional rehabilitation reinforces excessive visual reliance by focusing on visual compensation. The present study investigated whether a balance task involving a haptic biofeedback (BF) system, which provided supplementary vibrotactile sensory cues associated with center-of-foot-pressure displacement, improved postural control in patients with stroke. Seventeen stroke patients were assigned to two groups: the Vibrotactile BF and Control groups. During the balance task (i.e., standing on a foam mat), participants in the Vibrotactile BF group tried to stabilize their postural sway while wearing the BF system around the pelvic girdle. In the Control group, participants performed an identical postural task without the BF system. Pre- and post-test measurements of postural control using a force plate revealed that the stability of bipedal posture in the Vibrotactile BF group was markedly improved compared with that in the Control group. A balance task involving a vibrotactile BF system improved postural stability in patients with stroke immediately. This confirms the potential of a haptic-based BF system for balance training, both in routine clinical practice and in everyday life.

Generalized Momentum Control of the Spin-Stabilized Magnetospheric Multiscale Formation

NASA Technical Reports Server (NTRS)

Queen, Steven Z.; Shah, Neerav; Benegalrao, Suyog S.; Blackman, Kathie

2015-01-01

The Magnetospheric Multiscale (MMS) mission consists of four identically instrumented, spin-stabilized observatories elliptically orbiting the Earth in a tetrahedron formation. The on-board attitude control system adjusts the angular momentum of the system using a generalized thruster-actuated control system that simultaneously manages precession, nutation and spin. Originally developed using Lyapunov control-theory with rate-feedback, a published algorithm has been augmented to provide a balanced attitude/rate response using a single weighting parameter. This approach overcomes an orientation sign-ambiguity in the existing formulation, and also allows for a smoothly tuned-response applicable to both a compact/agile spacecraft, as well as one with large articulating appendages.

Nonlinear Control Systems

DTIC Science & Technology

2007-03-01

Finite -dimensional regulators for a class of infinite dimensional systems ,” Systems and Control Letters, 3 (1983), 7-12. [11] B...semiglobal stabilizability by encoded state feedback,” to appear in Systems and Control Letters. 22 29. C. De Persis, A. Isidori, “Global stabilization of...nonequilibrium setting, for both finite and infinite dimensional control systems . Our objectives for distributed parameter systems included

A simple laser locking system based on a field-programmable gate array.

PubMed

Jørgensen, N B; Birkmose, D; Trelborg, K; Wacker, L; Winter, N; Hilliard, A J; Bason, M G; Arlt, J J

2016-07-01

Frequency stabilization of laser light is crucial in both scientific and industrial applications. Technological developments now allow analog laser stabilization systems to be replaced with digital electronics such as field-programmable gate arrays, which have recently been utilized to develop such locking systems. We have developed a frequency stabilization system based on a field-programmable gate array, with emphasis on hardware simplicity, which offers a user-friendly alternative to commercial and previous home-built solutions. Frequency modulation, lock-in detection, and a proportional-integral-derivative controller are programmed on the field-programmable gate array and only minimal additional components are required to frequency stabilize a laser. The locking system is administered from a host-computer which provides comprehensive, long-distance control through a versatile interface. Various measurements were performed to characterize the system. The linewidth of the locked laser was measured to be 0.7 ± 0.1 MHz with a settling time of 10 ms. The system can thus fully match laser systems currently in use for atom trapping and cooling applications.

A simple laser locking system based on a field-programmable gate array

DOE Office of Scientific and Technical Information (OSTI.GOV)

Jørgensen, N. B.; Birkmose, D.; Trelborg, K.

Frequency stabilization of laser light is crucial in both scientific and industrial applications. Technological developments now allow analog laser stabilization systems to be replaced with digital electronics such as field-programmable gate arrays, which have recently been utilized to develop such locking systems. We have developed a frequency stabilization system based on a field-programmable gate array, with emphasis on hardware simplicity, which offers a user-friendly alternative to commercial and previous home-built solutions. Frequency modulation, lock-in detection, and a proportional-integral-derivative controller are programmed on the field-programmable gate array and only minimal additional components are required to frequency stabilize a laser. The lockingmore » system is administered from a host-computer which provides comprehensive, long-distance control through a versatile interface. Various measurements were performed to characterize the system. The linewidth of the locked laser was measured to be 0.7 ± 0.1 MHz with a settling time of 10 ms. The system can thus fully match laser systems currently in use for atom trapping and cooling applications.« less

Formation Control over Delayed Communication Network

NASA Astrophysics Data System (ADS)

Secchi, Cristian; Fantuzzi, Cesare

In this Chapter we address the problem of formation control of a group of robots that exchange information over a communication network characterized by a non negligible delay. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled group of robots as a port-Hamiltonian system and we exploit the scattering framework to achieve a passive behavior of the controlled system and to stabilize the robots in the desired formation independently of any communication delay.

Entry dynamics of space shuttle orbiter with longitudinal stability and control uncertainties at supersonic and hypersonic speeds

NASA Technical Reports Server (NTRS)

Stone, H. W.; Powell, R. W.

1977-01-01

A six-degree-of-freedom simulation analysis was conducted to examine the effects of longitudinal static aerodynamic stability and control uncertainties on the performance of the space shuttle orbiter automatic (no manual inputs) entry guidance and control systems. To establish the acceptable boundaries, the static aerodynamic characteristics were varied either by applying a multiplier to the aerodynamic parameter or by adding an increment. With either of two previously identified control system modifications included, the acceptable longitudinal aerodynamic boundaries were determined.

On Complete Control and Synchronization of Zhang Chaotic System with Uncertain Parameters using Adaptive Control Method

NASA Astrophysics Data System (ADS)

Tirandaz, Hamed

2018-03-01

Chaos control and synchronization of chaotic systems is seemingly a challenging problem and has got a lot of attention in recent years due to its numerous applications in science and industry. This paper concentrates on the control and synchronization problem of the three-dimensional (3D) Zhang chaotic system. At first, an adaptive control law and a parameter estimation law are achieved for controlling the behavior of the Zhang chaotic system. Then, non-identical synchronization of Zhang chaotic system is provided with considering the Lü chaotic system as the follower system. The synchronization problem and parameters identification are achieved by introducing an adaptive control law and a parameters estimation law. Stability analysis of the proposed method is proved by the Lyapanov stability theorem. In addition, the convergence of the estimated parameters to their truly unknown values are evaluated. Finally, some numerical simulations are carried out to illustrate and to validate the effectiveness of the suggested method.

Constrained tracking control for nonlinear systems.

PubMed

Khani, Fatemeh; Haeri, Mohammad

2017-09-01

This paper proposes a tracking control strategy for nonlinear systems without needing a prior knowledge of the reference trajectory. The proposed method consists of a set of local controllers with appropriate overlaps in their stability regions and an on-line switching strategy which implements these controllers and uses some augmented intermediate controllers to ensure steering the system states to the desired set points without needing to redesign the controller for each value of set point changes. The proposed approach provides smooth transient responses despite switching among the local controllers. It should be mentioned that the stability regions of the proposed controllers could be estimated off-line for a range of set-point changes. The efficiencies of the proposed algorithm are illustrated via two example simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Proceedings of the Workshop on Applications of Distributed System Theory to the Control of Large Space Structures

NASA Technical Reports Server (NTRS)

Rodriguez, G. (Editor)

1983-01-01

Two general themes in the control of large space structures are addressed: control theory for distributed parameter systems and distributed control for systems requiring spatially-distributed multipoint sensing and actuation. Topics include modeling and control, stabilization, and estimation and identification.

Design and analysis of an intelligent controller for active geometry suspension systems

NASA Astrophysics Data System (ADS)

Goodarzi, Avesta; Oloomi, Ehsan; Esmailzadeh, Ebrahim

2011-02-01

An active geometry suspension (AGS) system is a device to optimise suspension-related factors such as toe angle and roll centre height by controlling vehicle's suspension geometry. The suspension geometry could be changed through control of suspension mounting point's position. In this paper, analysis and control of an AGS system is addressed. First, the effects of suspension geometry change on roll centre height and toe angle are studied. Then, based on an analytical approach, the improvement of the vehicle's stability and handling due to the control of suspension geometry is investigated. In the next section, an eight-degree-of-freedom handling model of a sport utility vehicle equipped with an AGS system is introduced. Finally, a self-tuning proportional-integral controller has been designed, using the fuzzy control theory, to control the actuator that changes the geometry of the suspension system. The simulation results show that an AGS system can improve the handling and stability of the vehicle.

Renewable source controls for grid stability.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Byrne, Raymond Harry; Elliott, Ryan Thomas; Neely, Jason C.

2012-12-01

The goal of this study was to evaluate the small signal and transient stability of the Western Electric- ity Coordinating Council (WECC) under high penetrations of renewable energy, and to identify control technologies that would improve the system performance. The WECC is the regional entity responsible for coordinating and promoting bulk electric system reliability in the Western Interconnection. Transient stability is the ability of the power system to maintain synchronism after a large disturbance while small signal stability is the ability of the power system to maintain synchronism after a small disturbance. Tran- sient stability analysis usually focuses on themore » relative rotor angle between synchronous machines compared to some stability margin. For this study we employed generator speed relative to system speed as a metric for assessing transient stability. In addition, we evaluated the system transient response using the system frequency nadir, which provides an assessment of the adequacy of the primary frequency control reserves. Small signal stability analysis typically identi es the eigenvalues or modes of the system in response to a disturbance. For this study we developed mode shape maps for the di erent scenarios. Prony analysis was applied to generator speed after a 1.4 GW, 0.5 second, brake insertion at various locations. Six di erent WECC base cases were analyzed, including the 2022 light spring case which meets the renewable portfolio standards. Because of the di culty in identifying the cause and e ect relationship in large power system models with di erent scenarios, several simulations were run on a 7-bus, 5-generator system to isolate the e ects of di erent con gurations. Based on the results of the study, for a large power system like the WECC, incorporating frequency droop into wind/solar systems provides a larger bene t to system transient response than replacing the lost inertia with synthetic inertia. From a small signal stability perspective, the increase in renewable penetration results in subtle changes to the system modes. In gen- eral, mode frequencies increase slightly, and mode shapes remain similar. The system frequency nadir for the 2022 light spring case was slightly lower than the other cases, largely because of the reduced system inertia. However, the nadir is still well above the minimum load shedding frequency of 59.5 Hz. Finally, several discrepancies were identi ed between actual and reported wind penetration, and additional work on wind/solar modeling is required to increase the delity of the WECC models.« less

Dynamic analysis of space robot remote control system

NASA Astrophysics Data System (ADS)

Kulakov, Felix; Alferov, Gennady; Sokolov, Boris; Gorovenko, Polina; Sharlay, Artem

2018-05-01

The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.

Intelligent Control for the BEES Flyer

NASA Technical Reports Server (NTRS)

Krishnakumar, K.; Gundy-Burlet, Karen; Aftosmis, Mike; Nemec, Marian; Limes, Greg; Berry, Misty; Logan, Michael

2004-01-01

This paper describes the effort to provide a preliminary capability analysis and a neural network based adaptive flight control system for the JPL-led BEES aircraft project. The BEES flyer was envisioned to be a small, autonomous platform with sensing and control systems mimicking those of biological systems for the purpose of scientific exploration on the surface of Mars. The platform is physically tightly constrained by the necessity of efficient packing within rockets for the trip to Mars. Given the physical constraints, the system is not an ideal configuration for aerodynamics or stability and control. The objectives of this effort are to evaluate the aerodynamics characteristics of the existing design, to make recommendaaons as to potential improvements and to provide a control system that stabilizes the existing aircraft for nominal flight and damaged conditions. Towards this several questions are raised and analyses are presented to arrive at answers to some of the questions raised. CART3D, a high-fidelity inviscid analysis package for conceptual and preliminary aerodynamic design, was used to compute a parametric set of solutions over the expected flight domain. Stability and control derivatives were extracted from the database and integrated with the neural flight control system. The Integrated Vehicle Modeling Environment (IVME) was also used for estimating aircraft geometric, inertial, and aerodynamic characteristics. A generic neural flight control system is used to provide adaptive control without the requirement for extensive gain scheduling or explicit system identification. The neural flight control system uses reference models to specify desired handling qualities in the roll, pitch, and yaw axes, and incorporates both pre-trained and on-line learning neural networks in the inverse model portion of the controller. Results are presented for the BEES aircraft in the subsonic regime for terrestrial and Martian environments.

An assessment of various side-stick controller/stability and control augmentation systems for night nap-of-Earth flight using piloted simulation

NASA Technical Reports Server (NTRS)

Landis, K. H.; Aiken, E. W.

1982-01-01

Several night nap-of-the-earth mission tasks were evaluated using a helmet-mounted display which provided a limited field-of-view image with superimposed flight control symbology. A wide range of stability and control augmentation designs was investigated. Variations in controller force-deflection characteristics and the number of axes controlled through an integrated side-stick controller were studied. In general, a small displacement controller is preferred over a stiffstick controller particularly for maneuvering flight. Higher levels of stability augmentation were required for IMC tasks to provide handling qualities comparable to those achieved for the same tasks conducted under simulated visual flight conditions.

Robust Takagi-Sugeno fuzzy control for fractional order hydro-turbine governing system.

PubMed

Wang, Bin; Xue, Jianyi; Wu, Fengjiao; Zhu, Delan

2016-11-01

A robust fuzzy control method for fractional order hydro-turbine governing system (FOHGS) in the presence of random disturbances is investigated in this paper. Firstly, the mathematical model of FOHGS is introduced, and based on Takagi-Sugeno (T-S) fuzzy rules, the generalized T-S fuzzy model of FOHGS is presented. Secondly, based on fractional order Lyapunov stability theory, a novel T-S fuzzy control method is designed for the stability control of FOHGS. Thirdly, the relatively loose sufficient stability condition is acquired, which could be transformed into a group of linear matrix inequalities (LMIs) via Schur complement as well as the strict mathematical derivation is given. Furthermore, the control method could resist random disturbances, which shows the good robustness. Simulation results indicate the designed fractional order T-S fuzzy control scheme works well compared with the existing method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A novel double-convection chaotic attractor, its adaptive control and circuit simulation

NASA Astrophysics Data System (ADS)

Mamat, M.; Vaidyanathan, S.; Sambas, A.; Mujiarto; Sanjaya, W. S. M.; Subiyanto

2018-03-01

A 3-D novel double-convection chaotic system with three nonlinearities is proposed in this research work. The dynamical properties of the new chaotic system are described in terms of phase portraits, Lyapunov exponents, Kaplan-Yorke dimension, dissipativity, stability analysis of equilibria, etc. Adaptive control and synchronization of the new chaotic system with unknown parameters are achieved via nonlinear controllers and the results are established using Lyapunov stability theory. Furthermore, an electronic circuit realization of the new 3-D novel chaotic system is presented in detail. Finally, the circuit experimental results of the 3-D novel chaotic attractor show agreement with the numerical simulations.

Decomposition-aggregation stability analysis. [for large scale dynamic systems with application to spinning Skylab control system

NASA Technical Reports Server (NTRS)

Siljak, D. D.; Weissenberger, S.; Cuk, S. M.

1973-01-01

This report presents the development and description of the decomposition aggregation approach to stability investigations of high dimension mathematical models of dynamic systems. The high dimension vector differential equation describing a large dynamic system is decomposed into a number of lower dimension vector differential equations which represent interconnected subsystems. Then a method is described by which the stability properties of each subsystem are aggregated into a single vector Liapunov function, representing the aggregate system model, consisting of subsystem Liapunov functions as components. A linear vector differential inequality is then formed in terms of the vector Liapunov function. The matrix of the model, which reflects the stability properties of the subsystems and the nature of their interconnections, is analyzed to conclude over-all system stability characteristics. The technique is applied in detail to investigate the stability characteristics of a dynamic model of a hypothetical spinning Skylab.

Observer-based state tracking control of uncertain stochastic systems via repetitive controller

NASA Astrophysics Data System (ADS)

Sakthivel, R.; Susana Ramya, L.; Selvaraj, P.

2017-08-01

This paper develops the repetitive control scheme for state tracking control of uncertain stochastic time-varying delay systems via equivalent-input-disturbance approach. The main purpose of this work is to design a repetitive controller to guarantee the tracking performance under the effects of unknown disturbances with bounded frequency and parameter variations. Specifically, a new set of linear matrix inequality (LMI)-based conditions is derived based on the suitable Lyapunov-Krasovskii functional theory for designing a repetitive controller which guarantees stability and desired tracking performance. More precisely, an equivalent-input-disturbance estimator is incorporated into the control design to reduce the effect of the external disturbances. Simulation results are provided to demonstrate the desired control system stability and their tracking performance. A practical stream water quality preserving system is also provided to show the effectiveness and advantage of the proposed approach.

Consensus-Based Formation Control of a Class of Multi-Agent Systems

NASA Technical Reports Server (NTRS)

Joshi, Suresh; Gonzalez, Oscar R.

2014-01-01

This paper presents a consensus-based formation control scheme for autonomous multi-agent systems represented by double integrator dynamics. Assuming that the information graph topology consists of an undirected connected graph, a leader-based consensus-type control law is presented and shown to provide asymptotic formation stability when subjected to piecewise constant formation velocity commands. It is also shown that global asymptotic stability is preserved in the presence of (0, infinity)- sector monotonic non-decreasing actuator nonlinearities.

Meteorological Measurements from Satellite Platforms. [stability and control of flexible stochastic satellites

NASA Technical Reports Server (NTRS)

Suomi, V. E.

1975-01-01

The stability of stochastic satellites and the stability and control of flexible satellites were investigated. The effects of random environmental torques and noises in the moments of inertia of spinning and three-axes stabilized satellites were first compared analytically by four methods and by analog simulations. Among the analytical methods, it was shown that the Fokker-Planck formulation yields predictions which most coincide with the simulation results. It was then shown that the required stability criterion of a satellite is quite different from that obtained by a deterministic approach, under the assumption that the environmental and control torques experienced by the satellite are random. Finally, it was demonstrated that, by monitoring the deformations of the flexible elements of a satellite, the effectiveness of the satellite control system can be increased considerably.

High Stability Engine Control (HISTEC) Flight Test Results

NASA Technical Reports Server (NTRS)

Southwick, Robert D.; Gallops, George W.; Kerr, Laura J.; Kielb, Robert P.; Welsh, Mark G.; DeLaat, John C.; Orme, John S.

1998-01-01

The High Stability Engine Control (HISTEC) Program, managed and funded by the NASA Lewis Research Center, is a cooperative effort between NASA and Pratt & Whitney (P&W). The program objective is to develop and flight demonstrate an advanced high stability integrated engine control system that uses real-time, measurement-based estimation of inlet pressure distortion to enhance engine stability. Flight testing was performed using the NASA Advanced Controls Technologies for Integrated Vehicles (ACTIVE) F-15 aircraft at the NASA Dryden Flight Research Center. The flight test configuration, details of the research objectives, and the flight test matrix to achieve those objectives are presented. Flight test results are discussed that show the design approach can accurately estimate distortion and perform real-time control actions for engine accommodation.

A Study of Power Systems Stability Enhancement Effects by Excitation Control of Superconducting Generator with High Response Excitation based on Detailed Excitation Circuit Model

NASA Astrophysics Data System (ADS)

Wu, Guohong; Shirato, Hideyuki

SCG (Superconducting Generator) has a superconducting field winding, which leads to many advantages such as small size, high generation efficiency, low impedance, and so on, and be considered as one of the candidates to meet the needs of high stability and high efficiency in the future power system networks. SCG with high response excitation is especially expected to be able to enhance the transient stability of power system by its SMES (Superconducting Magnetic Energy System) effect. The SMES effect of SCG is recognized that its behaviors are dominated by the structures and controls of its excitation system. For this reason, in order to verify exactly how the SMES effect of SCG influences on the power system stability, the electrical circuits of SCG high response excitation are modeled in detail for conducting digital simulation, and its influence on excitation voltage and active power output of SCG are discussed as well. The simulation results with a typical one machine - infinite bus power system model shows that the SMES effect can be certainly obtained when its exciting power is supplied from SCG terminal bus and may considerably lead to an improvement of power system transient stability.

Nonlinear control of voltage source converters in AC-DC power system.

PubMed

Dash, P K; Nayak, N

2014-07-01

This paper presents the design of a robust nonlinear controller for a parallel AC-DC power system using a Lyapunov function-based sliding mode control (LYPSMC) strategy. The inputs for the proposed control scheme are the DC voltage and reactive power errors at the converter station and the active and reactive power errors at the inverter station of the voltage-source converter-based high voltage direct current transmission (VSC-HVDC) link. The stability and robust tracking of the system parameters are ensured by applying the Lyapunov direct method. Also the gains of the sliding mode control (SMC) are made adaptive using the stability conditions of the Lyapunov function. The proposed control strategy offers invariant stability to a class of systems having modeling uncertainties due to parameter changes and exogenous inputs. Comprehensive computer simulations are carried out to verify the proposed control scheme under several system disturbances like changes in short-circuit ratio, converter parametric changes, and faults on the converter and inverter buses for single generating system connected to the power grid in a single machine infinite-bus AC-DC network and also for a 3-machine two-area power system. Furthermore, a second order super twisting sliding mode control scheme has been presented in this paper that provides a higher degree of nonlinearity than the LYPSMC and damps faster the converter and inverter voltage and power oscillations. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Design and analysis of control system for VCSEL of atomic interference magnetometer

NASA Astrophysics Data System (ADS)

Zhang, Xiao-nan; Sun, Xiao-jie; Kou, Jun; Yang, Feng; Li, Jie; Ren, Zhang; Wei, Zong-kang

2016-11-01

Magnetic field detection is an important means of deep space environment exploration. Benefit from simple structure and low power consumption, atomic interference magnetometer become one of the most potential detector payloads. Vertical Cavity Surface Emitting Laser (VCSEL) is usually used as a light source in atomic interference magnetometer and its frequency stability directly affects the stability and sensitivity of magnetometer. In this paper, closed-loop control strategy of VCSEL was designed and analysis, the controller parameters were selected and the feedback error algorithm was optimized as well. According to the results of experiments that were performed on the hardware-in-the-loop simulation platform, the designed closed-loop control system is reasonable and it is able to effectively improve the laser frequency stability during the actual work of the magnetometer.

HFL-10 lifting body flight control system characteristics and operational experience

NASA Technical Reports Server (NTRS)

Painter, W. D.; Sitterle, G. J.

1974-01-01

A flight evaluation was made of the mechanical hydraulic flight control system and the electrohydraulic stability augmentation system installed in the HL-10 lifting body research vehicle. Flight tests performed in the speed range from landing to a Mach number of 1.86 and the altitude range from 697 meters (2300 feet) to 27,550 meters (90,300 feet) were supplemented by ground tests to identify and correct structural resonance and limit-cycle problems. Severe limit-cycle and control sensitivity problems were encountered during the first flight. Stability augmentation system structural resonance electronic filters were modified to correct the limit-cycle problem. Several changes were made to control stick gearing to solve the control sensitivity problem. Satisfactory controllability was achieved by using a nonlinear system. A limit-cycle problem due to hydraulic fluid contamination was encountered during the first powered flight, but the problem did not recur after preflight operations were improved.

A Theoretical Solid Oxide Fuel Cell Model for System Controls and Stability Design

NASA Technical Reports Server (NTRS)

Kopasakis, George; Brinson, Thomas; Credle, Sydni; Xu, Ming

2006-01-01

As the aviation industry moves towards higher efficiency electrical power generation, all electric aircraft, or zero emissions and more quiet aircraft, fuel cells are sought as the technology that can deliver on these high expectations. The Hybrid Solid Oxide Fuel Cell system combines the fuel cell with a microturbine to obtain up to 70 percent cycle efficiency, and then distributes the electrical power to the loads via a power distribution system. The challenge is to understand the dynamics of this complex multi-discipline system, and design distributed controls that take the system through its operating conditions in a stable and safe manner while maintaining the system performance. This particular system is a power generation and distribution system and the fuel cell and microturbine model fidelity should be compatible with the dynamics of the power distribution system in order to allow proper stability and distributed controls design. A novel modeling approach is proposed for the fuel cell that will allow the fuel cell and the power system to be integrated and designed for stability, distributed controls, and other interface specifications. This investigation shows that for the fuel cell, the voltage characteristic should be modeled, but in addition, conservation equation dynamics, ion diffusion, charge transfer kinetics, and the electron flow inherent impedance should also be included.

Finite-time stabilization of chaotic gyros based on a homogeneous supertwisting-like algorithm

NASA Astrophysics Data System (ADS)

Khamsuwan, Pitcha; Sangpet, Teerawat; Kuntanapreeda, Suwat

2018-01-01

This paper presents a finite-time stabilization scheme for nonlinear chaotic gyros. The scheme utilizes a supertwisting-like continuous control algorithm for the systems of dimension more than one with a Lipschitz disturbance. The algorithm yields finite-time convergence similar to that produces by discontinuous sliding mode control algorithms. To design the controller, the nonlinearities in the gyro are treated as a disturbance in the system. Thanks to the dissipativeness of chaotic systems, the nonlinearities also possess the Lipschitz property. Numerical results are provided to illustrate the effectiveness of the scheme.

Transient AC voltage related phenomena for HVDC schemes connected to weak AC systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pilotto, L.A.S.; Szechtman, M.; Hammad, A.E.

1992-07-01

In this paper a didactic explanation of voltage stability associated phenomena at HVDC terminals is presented. Conditions leading to ac voltage collapse problems are identified. A mechanism that excites control-induced voltage oscillations is shown. The voltage stability factor is used for obtaining the maximum power limits of ac/dc systems operating with different control strategies. Correlation to Pd {times} Id curves is given. Solutions for eliminating the risks of voltage collapse and for avoiding control-induced oscillations are discussed. The results are supported by detailed digital simulations of a weak ac/dc system using EMTP.

Disturbance observer based active and adaptive synchronization of energy resource chaotic system.

PubMed

Wei, Wei; Wang, Meng; Li, Donghai; Zuo, Min; Wang, Xiaoyi

2016-11-01

In this paper, synchronization of a three-dimensional energy resource chaotic system is considered. For the sake of achieving the synchronization between the drive and response systems, two different nonlinear control approaches, i.e. active control with known parameters and adaptive control with unknown parameters, have been designed. In order to guarantee the transient performance, finite-time boundedness (FTB) and finite-time stability (FTS) are introduced in the design of active control and adaptive control, respectively. Simultaneously, in view of the existence of disturbances, a new disturbance observer is proposed to estimate the disturbance. The conditions of the asymptotic stability for the closed-loop system are obtained. Numerical simulations are provided to illustrate the proposed approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Passivity and Dissipativity as Design and Analysis Tools for Networked Control Systems

ERIC Educational Resources Information Center

Yu, Han

2012-01-01

In this dissertation, several control problems are studied that arise when passive or dissipative systems are interconnected and controlled over a communication network. Since communication networks can impact the systems' stability and performance, there is a need to extend the results on control of passive or dissipative systems to networked…

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.

Demonstration of relaxed static stability on a commercial transport

NASA Technical Reports Server (NTRS)

Rising, J. J.; Davis, W. J.; Willey, C. S.; Cokeley, R. C.

1984-01-01

Increasing jet aircraft fuel costs from 25 percent to nearly 60 percent of the aircraft direct operating costs have led to a heavy emphasis on the development of transport aircraft with significantly improved aerodynamic performance. The application of the concept of relaxed static stability (RSS) and the utilization of an active control stability augmentation system make it possible to design an aircraft with reduced aerodynamic trim drag due to a farther-aft cg balance. Reduced aerodynamic parasite drag and lower structural weight due to a smaller horizontal tail surface can also be obtained. The application of RSS has been studied under a NASA-sponsored program to determine ways of improving the energy efficiency in current and future transport aircraft. Attention is given to a near-term pitch active control system, an advanced pitch active control system, and an operational overview.

Vehicle handling and stability control by the cooperative control of 4WS and DYC

NASA Astrophysics Data System (ADS)

Shen, Huan; Tan, Yun-Sheng

2017-07-01

This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

Enhanced enzyme stability through site-directed covalent immobilization.

PubMed

Wu, Jeffrey Chun Yu; Hutchings, Christopher Hayden; Lindsay, Mark Jeffrey; Werner, Christopher James; Bundy, Bradley Charles

2015-01-10

Breakthroughs in enzyme immobilization have enabled increased enzyme recovery and reusability, leading to significant decreases in the cost of enzyme use and fueling biocatalysis growth. However, current enzyme immobilization techniques suffer from leaching, enzyme stability, and recoverability and reusability issues. Moreover, these techniques lack the ability to control the orientation of the immobilized enzymes. To determine the impact of orientation on covalently immobilized enzyme activity and stability, we apply our PRECISE (Protein Residue-Explicit Covalent Immobilization for Stability Enhancement) system to a model enzyme, T4 lysozyme. The PRECISE system uses non-canonical amino acid incorporation and the Huisgen 1,3-dipolar cycloaddition "click" reaction to enable directed enzyme immobilization at rationally chosen residues throughout an enzyme. Unlike previous site-specific systems, the PRECISE system is a truly covalent immobilization method. Utilizing this system, enzymes immobilized at proximate and distant locations from the active site were tested for activity and stability under denaturing conditions. Our results demonstrate that orientation control of covalently immobilized enzymes can provide activity and stability benefits exceeding that of traditional random covalent immobilization techniques. PRECISE immobilized enzymes were 50 and 73% more active than randomly immobilized enzymes after harsh freeze-thaw and chemical denaturant treatments. Copyright © 2014 Elsevier B.V. All rights reserved.

Nonlinear research of an image motion stabilization system embedded in a space land-survey telescope

NASA Astrophysics Data System (ADS)

Somov, Yevgeny; Butyrin, Sergey; Siguerdidjane, Houria

2017-01-01

We consider an image motion stabilization system embedded into a space telescope for a scanning optoelectronic observation of terrestrial targets. Developed model of this system is presented taking into account physical hysteresis of piezo-ceramic driver and a time delay at a forming of digital control. We have presented elaborated algorithms for discrete filtering and digital control, obtained results on analysis of the image motion velocity oscillations in the telescope focal plane, and also methods for terrestrial and in-flight verification of the system.

Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Han; Zhao, Wanzhong

2018-02-01

To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

Voltage stability analysis in the new deregulated environment

NASA Astrophysics Data System (ADS)

Zhu, Tong

Nowadays, a significant portion of the power industry is under deregulation. Under this new circumstance, network security analysis is more critical and more difficult. One of the most important issues in network security analysis is voltage stability analysis. Due to the expected higher utilization of equipment induced by competition in a power market that covers bigger power systems, this issue is increasingly acute after deregulation. In this dissertation, some selected topics of voltage stability analysis are covered. In the first part, after a brief review of general concepts of continuation power flow (CPF), investigations on various matrix analysis techniques to improve the speed of CPF calculation for large systems are reported. Based on these improvements, a new CPF algorithm is proposed. This new method is then tested by an inter-area transaction in a large inter-connected power system. In the second part, the Arnoldi algorithm, the best method to find a few minimum singular values for a large sparse matrix, is introduced into the modal analysis for the first time. This new modal analysis is applied to the estimation of the point of voltage collapse and contingency evaluation in voltage security assessment. Simulations show that the new method is very efficient. In the third part, after transient voltage stability component models are investigated systematically, a novel system model for transient voltage stability analysis, which is a logical-algebraic-differential-difference equation (LADDE), is offered. As an example, TCSC (Thyristor controlled series capacitors) is addressed as a transient voltage stabilizing controller. After a TCSC transient voltage stability model is outlined, a new TCSC controller is proposed to enhance both fault related and load increasing related transient voltage stability. Its ability is proven by the simulation.

Modeling and stability analysis for the upper atmosphere research satellite auxiliary array switch component

NASA Technical Reports Server (NTRS)

Wolfgang, R.; Natarajan, T.; Day, J.

1987-01-01

A feedback control system, called an auxiliary array switch, was designed to connect or disconnect auxiliary solar panel segments from a spacecraft electrical bus to meet fluctuating demand for power. A simulation of the control system was used to carry out a number of design and analysis tasks that could not economically be performed with a breadboard of the hardware. These tasks included: (1) the diagnosis of a stability problem, (2) identification of parameters to which the performance of the control system was particularly sensitive, (3) verification that the response of the control system to anticipated fluctuations in the electrical load of the spacecraft was satisfactory, and (4) specification of limitations on the frequency and amplitude of the load fluctuations.

Lateral stability analysis for X-29A drop model using system identification methodology

NASA Technical Reports Server (NTRS)

Raney, David L.; Batterson, James G.

1989-01-01

A 22-percent dynamically scaled replica of the X-29A forward-swept-wing airplane has been flown in radio-controlled drop tests at the NASA Langley Research Center. A system identification study of the recorded data was undertaken to examine the stability and control derivatives that influence the lateral behavior of this vehicle with particular emphasis on an observed wing rock phenomenon. All major lateral stability derivatives and the damping-in-roll derivative were identified for angles of attack from 5 to 80 degrees by using a data-partitioning methodology and a modified stepwise regression algorithm.

Control of stochastic sensitivity in a stabilization problem for gas discharge system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bashkirtseva, Irina

2015-11-30

We consider a nonlinear dynamic stochastic system with control. A problem of stochastic sensitivity synthesis of the equilibrium is studied. A mathematical technique of the solution of this problem is discussed. This technique is applied to the problem of the stabilization of the operating mode for the stochastic gas discharge system. We construct a feedback regulator that reduces the stochastic sensitivity of the equilibrium, suppresses large-amplitude oscillations, and provides a proper operation of this engineering device.

Compressor Stability and Control: Review and Practical Implications

DTIC Science & Technology

2001-06-01

and control technology is being built. 1. INTRODUCTION The concept of a ’smart engine ’, which utilizes augmented sensing, actuation, and computational...research mix. Concentration has been primarily on combustion control, and on stability and control of compressors and compression systems. The latter...at least a functional description of the processes at work during stall inception can effective control Paper presented at the RTO A VT Symposium on

14 CFR 91.527 - Operating in icing conditions.

Code of Federal Regulations, 2014 CFR

2014-01-01

..., windshield, stabilizing or control surface; to a powerplant installation; or to an airspeed, altimeter, rate of climb, or flight attitude instrument system or wing, except that takeoffs may be made with frost... each rotor blade, propeller, windshield, wing, stabilizing or control surface, and each airspeed...

14 CFR 91.527 - Operating in icing conditions.

Code of Federal Regulations, 2011 CFR

2011-01-01

..., windshield, stabilizing or control surface; to a powerplant installation; or to an airspeed, altimeter, rate of climb, or flight attitude instrument system or wing, except that takeoffs may be made with frost... each rotor blade, propeller, windshield, wing, stabilizing or control surface, and each airspeed...

14 CFR 91.527 - Operating in icing conditions.

Code of Federal Regulations, 2013 CFR

2013-01-01

..., windshield, stabilizing or control surface; to a powerplant installation; or to an airspeed, altimeter, rate of climb, or flight attitude instrument system or wing, except that takeoffs may be made with frost... each rotor blade, propeller, windshield, wing, stabilizing or control surface, and each airspeed...

Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.; Lanari, Leonardo

1992-01-01

A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.

Electron beam energy stabilization using a neural network hybrid controller at the Australian Synchrotron Linac.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Meier, E.; Morgan, M. J.; Biedron, S. G.

2009-01-01

This paper describes the implementation of a neural network hybrid controller for energy stabilization at the Australian Synchrotron Linac. The structure of the controller consists of a neural network (NNET) feed forward control, augmented by a conventional Proportional-Integral (PI) feedback controller to ensure stability of the system. The system is provided with past states of the machine in order to predict its future state, and therefore apply appropriate feed forward control. The NNET is able to cancel multiple frequency jitter in real-time. When it is not performing optimally due to jitter changes, the system can successfully be augmented by themore » PI controller to attenuate the remaining perturbations. With a view to control the energy and bunch length at the FERMI{at}Elettra Free Electron Laser (FEL), the present study considers a neural network hybrid feed forward-feedback type of control to rectify limitations related to feedback systems, such as poor response for high jitter frequencies or limited bandwidth, while ensuring robustness of control. The Australian Synchrotron Linac is equipped with a beam position monitor (BPM), that was provided by Sincrotrone Trieste from a former transport line thus allowing energy measurements and energy control experiments. The present study will consequently focus on correcting energy jitter induced by variations in klystron phase and voltage.« less

Modernization of the Control Systems of High-Frequency, Brush-Free, and Collector Exciters of Turbogenerators

DOE Office of Scientific and Technical Information (OSTI.GOV)

Popov, E. N., E-mail: enpo@ruselmash.ru; Komkov, A. L.; Ivanov, S. L.

Methods of modernizing the regulation systems of electric machinery exciters with high-frequency, brush-free, and collector exciters by means of microprocessor technology are examined. The main problems of modernization are to increase the response speed of a system and to use a system stabilizer to increase the stability of the power system.

A Combined Energy Management Algorithm for Wind Turbine/Battery Hybrid System

NASA Astrophysics Data System (ADS)

Altin, Necmi; Eyimaya, Süleyman Emre

2018-03-01

From an energy management standpoint, natural phenomena such as solar irradiation and wind speed are uncontrolled variables, so the correlation between the energy generated by renewable energy sources and energy demand cannot always be predicted. For this reason, energy storage systems are used to provide more efficient renewable energy systems. In these systems, energy management systems are used to control the energy storage system and establish a balance between the generated power and the power demand. In addition, especially in wind turbines, rapidly varying wind speeds cause wind power fluctuations, which threaten the power system stability, especially at high power levels. Energy storage systems are also used to mitigate the power fluctuations and sustain the power system's stability. In these systems, another controller which controls the energy storage system power to mitigate power fluctuations is required. These two controllers are different from each other. In this study, a combined energy management algorithm is proposed which can perform both as an energy control system and a power fluctuation mitigation system. The proposed controller is tested with wind energy conversion system modeled in MATLAB/Simulink. Simulation results show that the proposed controller acts as an energy management system while, at the same time, mitigating power fluctuations.

Research study on stabilization and control: Modern sampled data control theory

NASA Technical Reports Server (NTRS)

Kuo, B. C.; Singh, G.; Yackel, R. A.

1973-01-01

A numerical analysis of spacecraft stability parameters was conducted. The analysis is based on a digital approximation by point by point state comparison. The technique used is that of approximating a continuous data system by a sampled data model by comparison of the states of the two systems. Application of the method to the digital redesign of the simplified one axis dynamics of the Skylab is presented.

Application Number 3: Using Tethers for Attitude Control

NASA Technical Reports Server (NTRS)

Muller, R. M.

1985-01-01

Past application of the gravity gradient concept to satellite attitude control produced attitude stabilities of from 1 to 10 degrees. The satellite members were rigigly interconnected and any motion in one part of the satellite would cause motion in all members. This experience has restricted gravity gradient stabilization to applications that need attitude stability no better than 1 degree. A gravity gradient technique that combines the flexible tether with an active control that will allow control stability much better than 1 degree is proposed. This could give gravity gradient stabilization much broader application. In fact, for a large structure like a space station, it may become the preferred method. Two possible ways of demonstrating the techniques using the Tethered Satellite System (TSS) tether to control the attitude of the shuttle are proposed. Then a possible space station tether configuration is shown that could be used to control the initial station. It is then shown how the technique can be extended to the control of space stations of virtually any size.

A control problem for Burgers' equation with bounded input/output

NASA Technical Reports Server (NTRS)

Burns, John A.; Kang, Sungkwon

1990-01-01

A stabilization problem for Burgers' equation is considered. Using linearization, various controllers are constructed which minimize certain weighted energy functionals. These controllers produce the desired degree of stability for the closed-loop nonlinear system. A numerical scheme for computing the feedback gain functional is developed and several numerical experiments are performed to show the theoretical results.

Compensation for time delay in flight simulator visual-display systems

NASA Technical Reports Server (NTRS)

Crane, D. F.

1983-01-01

A piloted aircraft can be viewed as a closed-loop, man-machine control system. When a simulator pilot is performing a precision maneuver, a delay in the visual display of aircraft response to pilot-control input decreases the stability of the pilot-aircraft system. The less stable system is more difficult to control precisely. Pilot dynamic response and performance change as the pilot attempts to compensate for the decrease in system stability, and these changes bias the simulation results by influencing the pilot's rating of the handling qualities of the simulated aircraft. Delay compensation, designed to restore pilot-aircraft system stability, was evaluated in several studies which are reported here. The studies range from single-axis, tracking-task experiments (with sufficient subjects and trials to establish statistical significance of the results) to a brief evaluation of compensation of a computer-generated-imagery (CGI) visual display system in a full six-degree-of-freedom simulation. The compensation was effective - improvements in pilot performance and workload or aircraft handling-qualities rating (HQR) were observed. Results from recent aircraft handling-qualities research literature which support the compensation design approach are also reviewed.

Physics validation for design change of KSTAR passive stabilizer

NASA Astrophysics Data System (ADS)

Jeon, Y. M.; Kim, J. Y.; Oh, Y. K.; Yang, H. L.; Kim, W. C.; Kim, H. K.; Sabbagh, S. A.; Bialek, J. M.; Humphreys, D. A.; Welander, A. S.; Walker, M. L.

2009-11-01

Recently, the design of the passive stabilizer in KSTAR has been changed to improve controllability of the active control system and reduce the possibility of producing an additional error field. Originally the passive stabilizer in KSTAR was designed for RWM and vertical instability (or VDE) stabilizations and plasma startup efficiency, so that current bridges were designed and combined through 3D saddle-loop connections. Since the key design change is removing the current bridges, it's essential to assure satisfactory control performance for these instabilities under the design change. Control capability for n=1 RWM and achievable βN will be addressed as a primary goal of the passive stabilizer together with vertical instability control and effects on plasma startup. In addition, the changes in electro-magnetic force on conducting structures will be discussed qualitatively as a key engineering issue of the design change.

Application of polynomial control to design a robust oscillation-damping controller in a multimachine power system.

PubMed

Hasanvand, Hamed; Mozafari, Babak; Arvan, Mohammad R; Amraee, Turaj

2015-11-01

This paper addresses the application of a static Var compensator (SVC) to improve the damping of interarea oscillations. Optimal location and size of SVC are defined using bifurcation and modal analysis to satisfy its primary application. Furthermore, the best-input signal for damping controller is selected using Hankel singular values and right half plane-zeros. The proposed approach is aimed to design a robust PI controller based on interval plants and Kharitonov's theorem. The objective here is to determine the stability region to attain robust stability, the desired phase margin, gain margin, and bandwidth. The intersection of the resulting stability regions yields the set of kp-ki parameters. In addition, optimal multiobjective design of PI controller using particle swarm optimization (PSO) algorithm is presented. The effectiveness of the suggested controllers in damping of local and interarea oscillation modes of a multimachine power system, over a wide range of loading conditions and system configurations, is confirmed through eigenvalue analysis and nonlinear time domain simulation. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

[Automatic adjustment control system for DC glow discharge plasma source].

PubMed

Wan, Zhen-zhen; Wang, Yong-qing; Li, Xiao-jia; Wang, Hai-zhou; Shi, Ning

2011-03-01

There are three important parameters in the DC glow discharge process, the discharge current, discharge voltage and argon pressure in discharge source. These parameters influence each other during glow discharge process. This paper presents an automatic control system for DC glow discharge plasma source. This system collects and controls discharge voltage automatically by adjusting discharge source pressure while the discharge current is constant in the glow discharge process. The design concept, circuit principle and control program of this automatic control system are described. The accuracy is improved by this automatic control system with the method of reducing the complex operations and manual control errors. This system enhances the control accuracy of glow discharge voltage, and reduces the time to reach discharge voltage stability. The glow discharge voltage stability test results with automatic control system are provided as well, the accuracy with automatic control system is better than 1% FS which is improved from 4% FS by manual control. Time to reach discharge voltage stability has been shortened to within 30 s by automatic control from more than 90 s by manual control. Standard samples like middle-low alloy steel and tin bronze have been tested by this automatic control system. The concentration analysis precision has been significantly improved. The RSDs of all the test result are better than 3.5%. In middle-low alloy steel standard sample, the RSD range of concentration test result of Ti, Co and Mn elements is reduced from 3.0%-4.3% by manual control to 1.7%-2.4% by automatic control, and that for S and Mo is also reduced from 5.2%-5.9% to 3.3%-3.5%. In tin bronze standard sample, the RSD range of Sn, Zn and Al elements is reduced from 2.6%-4.4% to 1.0%-2.4%, and that for Si, Ni and Fe is reduced from 6.6%-13.9% to 2.6%-3.5%. The test data is also shown in this paper.

Dissipative stability analysis and control of two-dimensional Fornasini-Marchesini local state-space model

NASA Astrophysics Data System (ADS)

Wang, Lanning; Chen, Weimin; Li, Lizhen

2017-06-01

This paper is concerned with the problems of dissipative stability analysis and control of the two-dimensional (2-D) Fornasini-Marchesini local state-space (FM LSS) model. Based on the characteristics of the system model, a novel definition of 2-D FM LSS (Q, S, R)-α-dissipativity is given first, and then a sufficient condition in terms of linear matrix inequality (LMI) is proposed to guarantee the asymptotical stability and 2-D (Q, S, R)-α-dissipativity of the systems. As its special cases, 2-D passivity performance and 2-D H∞ performance are also discussed. Furthermore, by use of this dissipative stability condition and projection lemma technique, 2-D (Q, S, R)-α-dissipative state-feedback control problem is solved as well. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.

On Time Delay Margin Estimation for Adaptive Control and Optimal Control Modification

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2011-01-01

This paper presents methods for estimating time delay margin for adaptive control of input delay systems with almost linear structured uncertainty. The bounded linear stability analysis method seeks to represent an adaptive law by a locally bounded linear approximation within a small time window. The time delay margin of this input delay system represents a local stability measure and is computed analytically by three methods: Pade approximation, Lyapunov-Krasovskii method, and the matrix measure method. These methods are applied to the standard model-reference adaptive control, s-modification adaptive law, and optimal control modification adaptive law. The windowing analysis results in non-unique estimates of the time delay margin since it is dependent on the length of a time window and parameters which vary from one time window to the next. The optimal control modification adaptive law overcomes this limitation in that, as the adaptive gain tends to infinity and if the matched uncertainty is linear, then the closed-loop input delay system tends to a LTI system. A lower bound of the time delay margin of this system can then be estimated uniquely without the need for the windowing analysis. Simulation results demonstrates the feasibility of the bounded linear stability method for time delay margin estimation.

Development of a Comprehensive Digital Avionics Curriculum for the Aeronautical Engineer

DTIC Science & Technology

2006-03-01

able to analyze and design aircraft and missile guidance and control systems, including feedback stabilization schemes and stochastic processes, using ...Uncertainty modeling for robust control; Robust closed-loop stability and performance; Robust H- infinity control; Robustness check using mu-analysis...Controlled feedback (reduces noise) 3. Statistical group response (reduce pressure toward conformity) When used as a tool to study a complex problem

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morishita, Sadaharu; Goto, Tetsuya; Nagase, Masaaki

Multiprocesses in a single plasma process chamber with high throughput require precise, sequential, high-speed alteration of partial pressures of multiple gas species. A conventional gas-distribution system cannot realize this because the system seriously overshoots gas pressure immediately following valve operation. Furthermore, chamber volume and conductance of gas piping between the system and chamber should both be considered because they delay the stabilizing time of gas pressure. Therefore, the authors proposed a new gas-distribution system without overshoot by controlling gas flow rate based on pressure measurement, as well as a method of pulse-controlled gas injection immediately following valve operation. Time variationmore » of measured partial pressure agrees well with a calculation based on an equivalent-circuit model that represents the chamber and gas piping between the system and chamber. Using pulse-controlled gas injection, the stabilizing time can be reduced drastically to 0.6 s for HBr added to pure Ar plasma, and 0.7 s for O{sub 2} added to Ar/HBr plasma; without the pulse control, the stabilizing times are 3 and 7 s, respectively. In the O{sub 2} addition case, rapid stabilization can be achieved during the period of line/space pattern etching of poly-Si on a thin SiO{sub 2} film. This occurs without anomalous etching of the underlying SiO{sub 2} film or the Si substrate near the sidewall, thus obtaining a wide process margin with high throughput.« less

Flight test report of the NASA icing research airplane: Performance, stability, and control after flight through natural icing conditions

NASA Technical Reports Server (NTRS)

Jordan, J. L.; Platz, S. J.; Schinstock, W. C.

1986-01-01

Flight test results are presented documenting the effect of airframe icing on performance and stability and control of a NASA DHC-6 icing research aircraft. Kohlman System Research, Inc., provided the data acquisition system and data analysis under contract to NASA. Performance modeling methods and MMLE techniques were used to determine the effects of natural ice on the aircraft. Results showed that ice had a significant effect on the drag coefficient of the aircraft and a modest effect on the MMLE derived longitudinal stability coefficients (code version MMLE). Data is also presented on asymmetric power sign slip maneuvers showing rudder floating characteristics with and without ice on the vertical stabilizer.

Fault-Tolerant Control of ANPC Three-Level Inverter Based on Order-Reduction Optimal Control Strategy under Multi-Device Open-Circuit Fault.

PubMed

Xu, Shi-Zhou; Wang, Chun-Jie; Lin, Fang-Li; Li, Shi-Xiang

2017-10-31

The multi-device open-circuit fault is a common fault of ANPC (Active Neutral-Point Clamped) three-level inverter and effect the operation stability of the whole system. To improve the operation stability, this paper summarized the main solutions currently firstly and analyzed all the possible states of multi-device open-circuit fault. Secondly, an order-reduction optimal control strategy was proposed under multi-device open-circuit fault to realize fault-tolerant control based on the topology and control requirement of ANPC three-level inverter and operation stability. This control strategy can solve the faults with different operation states, and can works in order-reduction state under specific open-circuit faults with specific combined devices, which sacrifices the control quality to obtain the stability priority control. Finally, the simulation and experiment proved the effectiveness of the proposed strategy.

Decentralized stabilization of semi-active vibrating structures

NASA Astrophysics Data System (ADS)

Pisarski, Dominik

2018-02-01

A novel method of decentralized structural vibration control is presented. The control is assumed to be realized by a semi-active device. The objective is to stabilize a vibrating system with the optimal rates of decrease of the energy. The controller relies on an easily implemented decentralized switched state-feedback control law. It uses a set of communication channels to exchange the state information between the neighboring subcontrollers. The performance of the designed method is validated by means of numerical experiments performed for a double cantilever system equipped with a set of elastomers with controlled viscoelastic properties. In terms of the assumed objectives, the proposed control strategy significantly outperforms the passive damping cases and is competitive with a standard centralized control. The presented methodology can be applied to a class of bilinear control systems concerned with smart structural elements.

Reusable launch vehicle model uncertainties impact analysis

NASA Astrophysics Data System (ADS)

Chen, Jiaye; Mu, Rongjun; Zhang, Xin; Deng, Yanpeng

2018-03-01

Reusable launch vehicle(RLV) has the typical characteristics of complex aerodynamic shape and propulsion system coupling, and the flight environment is highly complicated and intensely changeable. So its model has large uncertainty, which makes the nominal system quite different from the real system. Therefore, studying the influences caused by the uncertainties on the stability of the control system is of great significance for the controller design. In order to improve the performance of RLV, this paper proposes the approach of analyzing the influence of the model uncertainties. According to the typical RLV, the coupling dynamic and kinematics models are built. Then different factors that cause uncertainties during building the model are analyzed and summed up. After that, the model uncertainties are expressed according to the additive uncertainty model. Choosing the uncertainties matrix's maximum singular values as the boundary model, and selecting the uncertainties matrix's norm to show t how much the uncertainty factors influence is on the stability of the control system . The simulation results illustrate that the inertial factors have the largest influence on the stability of the system, and it is necessary and important to take the model uncertainties into consideration before the designing the controller of this kind of aircraft( like RLV, etc).

A neural based intelligent flight control system for the NASA F-15 flight research aircraft

NASA Technical Reports Server (NTRS)

Urnes, James M.; Hoy, Stephen E.; Ladage, Robert N.; Stewart, James

1993-01-01

A flight control concept that can identify aircraft stability properties and continually optimize the aircraft flying qualities has been developed by McDonnell Aircraft Company under a contract with the NASA-Dryden Flight Research Facility. This flight concept, termed the Intelligent Flight Control System, utilizes Neural Network technology to identify the host aircraft stability and control properties during flight, and use this information to design on-line the control system feedback gains to provide continuous optimum flight response. This self-repairing capability can provide high performance flight maneuvering response throughout large flight envelopes, such as needed for the National Aerospace Plane. Moreover, achieving this response early in the vehicle's development schedule will save cost.

Flight Results of the NF-15B Intelligent Flight Control System (IFCS) Aircraft with Adaptation to a Longitudinally Destabilized Plant

NASA Technical Reports Server (NTRS)

Bosworth, John T.

2008-01-01

Adaptive flight control systems have the potential to be resilient to extreme changes in airplane behavior. Extreme changes could be a result of a system failure or of damage to the airplane. The goal for the adaptive system is to provide an increase in survivability in the event that these extreme changes occur. A direct adaptive neural-network-based flight control system was developed for the National Aeronautics and Space Administration NF-15B Intelligent Flight Control System airplane. The adaptive element was incorporated into a dynamic inversion controller with explicit reference model-following. As a test the system was subjected to an abrupt change in plant stability simulating a destabilizing failure. Flight evaluations were performed with and without neural network adaptation. The results of these flight tests are presented. Comparison with simulation predictions and analysis of the performance of the adaptation system are discussed. The performance of the adaptation system is assessed in terms of its ability to stabilize the vehicle and reestablish good onboard reference model-following. Flight evaluation with the simulated destabilizing failure and adaptation engaged showed improvement in the vehicle stability margins. The convergent properties of this initial system warrant additional improvement since continued maneuvering caused continued adaptation change. Compared to the non-adaptive system the adaptive system provided better closed-loop behavior with improved matching of the onboard reference model. A detailed discussion of the flight results is presented.

Switching Systems: Controllability and Control Design

DTIC Science & Technology

2009-04-25

controllable linear time invariant (LTI) systems ẋ = Ax+Bu are stabilizable and the stabilization can be always done by a...to control the system is bounded. As an application controllability conditions for a class of bimodal linear time invariant (LTI) systems are also...There exist a universal ( finite ) switching sequence σ such that the time varying system ẋ = A(σ)x+ B(σ)u is globally controllable . Proof: The

Thermal stability control system of photo-elastic interferometer in the PEM-FTs

NASA Astrophysics Data System (ADS)

Zhang, M. J.; Jing, N.; Li, K. W.; Wang, Z. B.

2018-01-01

A drifting model for the resonant frequency and retardation amplitude of a photo-elastic modulator (PEM) in the photo-elastic modulated Fourier transform spectrometer (PEM-FTs) is presented. A multi-parameter broadband-matching driving control method is proposed to improve the thermal stability of the PEM interferometer. The automatically frequency-modulated technology of the driving signal based on digital phase-locked technology is used to track the PEM's changing resonant frequency. Simultaneously the maximum optical-path-difference of a laser's interferogram is measured to adjust the amplitude of the PEM's driving signal so that the spectral resolution is stable. In the experiment, the multi-parameter broadband-matching control method is applied to the driving control system of the PEM-FTs. Control of resonant frequency and retardation amplitude stabilizes the maximum optical-path-difference to approximately 236 μm and results in a spectral resolution of 42 cm-1. This corresponds to a relative error smaller than 2.16% (4.28 standard deviation). The experiment shows that the method can effectively stabilize the spectral resolution of the PEM-FTs.

Thrusting maneuver control of a small spacecraft via only gimbaled-thruster scheme

NASA Astrophysics Data System (ADS)

Kabganian, Mansour; Kouhi, Hamed; Shahravi, Morteza; Fani Saberi, Farhad

2018-05-01

The thrust vector control (TVC) scheme is a powerful method in spacecraft attitude control. Since the control of a small spacecraft is being studied here, a solid rocket motor (SRM) should be used instead of a liquid propellant motor. Among the TVC methods, gimbaled-TVC as an efficient method is employed in this paper. The spacecraft structure is composed of a body and a gimbaled-SRM where common attitude control systems such as reaction control system (RCS) and spin-stabilization are not presented. A nonlinear two-body model is considered for the characterization of the gimbaled-thruster spacecraft where, the only control input is provided by a gimbal actuator. The attitude of the spacecraft is affected by a large exogenous disturbance torque which is generated by a thrust vector misalignment from the center of mass (C.M). A linear control law is designed to stabilize the spacecraft attitude while rejecting the mentioned disturbance torque. A semi-analytical formulation of the region of attraction (RoA) is developed to ensure the local stability and fast convergence of the nonlinear closed-loop system. Simulation results of the 3D maneuvers are included to show the applicability of this method for use in a small spacecraft.

Hybrid AC-High Voltage DC Grid Stability and Controls

NASA Astrophysics Data System (ADS)

Yu, Jicheng

The growth of energy demands in recent years has been increasing faster than the expansion of transmission facility construction. This tendency cooperating with the continuous investing on the renewable energy resources drives the research, development, and construction of HVDC projects to create a more reliable, affordable, and environmentally friendly power grid. Constructing the hybrid AC-HVDC grid is a significant move in the development of the HVDC techniques; the form of dc system is evolving from the point-to-point stand-alone dc links to the embedded HVDC system and the multi-terminal HVDC (MTDC) system. The MTDC is a solution for the renewable energy interconnections, and the MTDC grids can improve the power system reliability, flexibility in economic dispatches, and converter/cable utilizing efficiencies. The dissertation reviews the HVDC technologies, discusses the stability issues regarding the ac and HVDC connections, proposes a novel power oscillation control strategy to improve system stability, and develops a nonlinear voltage droop control strategy for the MTDC grid. To verify the effectiveness the proposed power oscillation control strategy, a long distance paralleled AC-HVDC transmission test system is employed. Based on the PSCAD/EMTDC platform simulation results, the proposed power oscillation control strategy can improve the system dynamic performance and attenuate the power oscillations effectively. To validate the nonlinear voltage droop control strategy, three droop controls schemes are designed according to the proposed nonlinear voltage droop control design procedures. These control schemes are tested in a hybrid AC-MTDC system. The hybrid AC-MTDC system, which is first proposed in this dissertation, consists of two ac grids, two wind farms and a five-terminal HVDC grid connecting them. Simulation studies are performed in the PSCAD/EMTDC platform. According to the simulation results, all the three design schemes have their unique salient features.

Neural networks for tracking of unknown SISO discrete-time nonlinear dynamic systems.

PubMed

Aftab, Muhammad Saleheen; Shafiq, Muhammad

2015-11-01

This article presents a Lyapunov function based neural network tracking (LNT) strategy for single-input, single-output (SISO) discrete-time nonlinear dynamic systems. The proposed LNT architecture is composed of two feedforward neural networks operating as controller and estimator. A Lyapunov function based back propagation learning algorithm is used for online adjustment of the controller and estimator parameters. The controller and estimator error convergence and closed-loop system stability analysis is performed by Lyapunov stability theory. Moreover, two simulation examples and one real-time experiment are investigated as case studies. The achieved results successfully validate the controller performance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems

PubMed Central

Albattat, Ali; Gruenwald, Benjamin C.; Yucelen, Tansel

2016-01-01

The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches. PMID:27537894

On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems.

PubMed

Albattat, Ali; Gruenwald, Benjamin C; Yucelen, Tansel

2016-08-16

The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches.

Co-simulation of heavy truck tire dynamics and electronic stability control systems (phase B).

DOT National Transportation Integrated Search

2010-07-01

In the past decade, electronic stability controls (ESC) have become increasingly common on vehicles operating in the United States. The acceptance of this technology has progressed to the point where all new passenger vehicles sold in the US are requ...

Dynamic stabilization of an optomechanical oscillator

DTIC Science & Technology

2014-10-20

respectively. The proper frequency of the pendulum is ω0 = √ g/, where g is the gravitational acceleration and is the length of the pendulum . The...controlled experiments. In this paper we discuss one such situation, the dynamic stabilization of a mechanical system such as an inverted pendulum . The...quantumoptomechanics, macroscopic quantum system, dynamic stabilization, Kapitza pendulum REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S

Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System

NASA Technical Reports Server (NTRS)

Williams, Peggy S.

2004-01-01

The NASA F-15 Intelligent Flight Control System project team has developed a series of flight control concepts designed to demonstrate the benefits of a neural network-based adaptive controller. The objective of the team is to develop and flight-test control systems that use neural network technology to optimize the performance of the aircraft under nominal conditions as well as stabilize the aircraft under failure conditions. Failure conditions include locked or failed control surfaces as well as unforeseen damage that might occur to the aircraft in flight. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to the baseline aerodynamic derivatives in flight. This set of open-loop flight tests was performed in preparation for a future phase of flights in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed a pitch frequency sweep and an automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. An examination of flight data shows that addition of the flight-identified aerodynamic derivative increments into the simulation improved the pitch handling qualities of the aircraft.

Entry dynamics of space shuttle orbiter with lateral-directional stability and control uncertainties at supersonic and hypersonic speeds

NASA Technical Reports Server (NTRS)

Stone, H. W.; Powell, R. W.

1977-01-01

A six-degree-of-freedom simulation analysis was conducted to examine the effects of the lateral-directional static aerodynamic stability and control uncertainties on the performance of the automatic (no manual inputs) entry-guidance and control systems of the space shuttle orbiter. To establish the acceptable boundaries of the uncertainties, the static aerodynamic characteristics were varied either by applying a multiplier to the aerodynamic parameter or by adding an increment. Control-system modifications were identified that decrease the sensitivity to off-nominal aerodynamics. With these modifications, the acceptable aerodynamic boundaries were determined.

PI Passivity-Based Control for Maximum Power Extraction of a Wind Energy System with Guaranteed Stability Properties

NASA Astrophysics Data System (ADS)

Cisneros, Rafael; Gao, Rui; Ortega, Romeo; Husain, Iqbal

2016-10-01

The present paper proposes a maximum power extraction control for a wind system consisting of a turbine, a permanent magnet synchronous generator, a rectifier, a load and one constant voltage source, which is used to form the DC bus. We propose a linear PI controller, based on passivity, whose stability is guaranteed under practically reasonable assumptions. PI structures are widely accepted in practice as they are easier to tune and simpler than other existing model-based methods. Real switching based simulations have been performed to assess the performance of the proposed controller.

Linear decentralized learning control

NASA Technical Reports Server (NTRS)

Lee, Soo C.; Longman, Richard W.; Phan, Minh

1992-01-01

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of learning control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

Effect on Longitudinal Stability and Control Characteristics of a Boeing B-29 Airplane of Variations in Stick-Force and Control-Rate Characteristics Obtained Through Use of a Booster in the Elevator-Control System

NASA Technical Reports Server (NTRS)

Mathews, Charles W; Talmage, Donald B; Whitten, James B

1952-01-01

A longitudinal stability and control characteristics of a Boeing B-29 airplane have been measured with a booster incorporated in the elevator-control system. Tests were made to determine the effects on the handling qualities of the test airplane of variations in the pilot's control-force gradients as well as the effects of variations in the maximum rate of control motion supplied by the booster. The results of the control-rate investigation indicate that large airplanes may have satisfactory handling qualities with the booster adjusted to give much lower rates of control motion than those normally used by pilots.

Prediction of pilot-aircraft stability boundaries and performance contours

NASA Technical Reports Server (NTRS)

Stengel, R. F.; Broussard, J. R.

1977-01-01

Control-theoretic pilot models can provide important new insights regarding the stability and performance characteristics of the pilot-aircraft system. Optimal-control pilot models can be formed for a wide range of flight conditions, suggesting that the human pilot can maintain stability if he adapts his control strategy to the aircraft's changing dynamics. Of particular concern is the effect of sub-optimal pilot adaptation as an aircraft transitions from low to high angle-of-attack during rapid maneuvering, as the changes in aircraft stability and control response can be extreme. This paper examines the effects of optimal and sub-optimal effort during a typical 'high-g' maneuver, and it introduces the concept of minimum-control effort (MCE) adaptation. Limited experimental results tend to support the MCE adaptation concept.

Application of a Modal Approach in Solving the Static Stability Problem for Electric Power Systems

NASA Astrophysics Data System (ADS)

Sharov, J. V.

2017-12-01

Application of a modal approach in solving the static stability problem for power systems is examined. It is proposed to use the matrix exponent norm as a generalized transition function of the power system disturbed motion. Based on the concept of a stability radius and the pseudospectrum of Jacobian matrix, the necessary and sufficient conditions for existence of the static margins were determined. The capabilities and advantages of the modal approach in designing centralized or distributed control and the prospects for the analysis of nonlinear oscillations and rendering the dynamic stability are demonstrated.

A decision tree-based on-line preventive control strategy for power system transient instability prevention

NASA Astrophysics Data System (ADS)

Xu, Yan; Dong, Zhao Yang; Zhang, Rui; Wong, Kit Po

2014-02-01

Maintaining transient stability is a basic requirement for secure power system operations. Preventive control deals with modifying the system operating point to withstand probable contingencies. In this article, a decision tree (DT)-based on-line preventive control strategy is proposed for transient instability prevention of power systems. Given a stability database, a distance-based feature estimation algorithm is first applied to identify the critical generators, which are then used as features to develop a DT. By interpreting the splitting rules of DT, preventive control is realised by formulating the rules in a standard optimal power flow model and solving it. The proposed method is transparent in control mechanism, on-line computation compatible and convenient to deal with multi-contingency. The effectiveness and efficiency of the method has been verified on New England 10-machine 39-bus test system.

Robust fuzzy control subject to state variance and passivity constraints for perturbed nonlinear systems with multiplicative noises.

PubMed

Chang, Wen-Jer; Huang, Bo-Jyun

2014-11-01

The multi-constrained robust fuzzy control problem is investigated in this paper for perturbed continuous-time nonlinear stochastic systems. The nonlinear system considered in this paper is represented by a Takagi-Sugeno fuzzy model with perturbations and state multiplicative noises. The multiple performance constraints considered in this paper include stability, passivity and individual state variance constraints. The Lyapunov stability theory is employed to derive sufficient conditions to achieve the above performance constraints. By solving these sufficient conditions, the contribution of this paper is to develop a parallel distributed compensation based robust fuzzy control approach to satisfy multiple performance constraints for perturbed nonlinear systems with multiplicative noises. At last, a numerical example for the control of perturbed inverted pendulum system is provided to illustrate the applicability and effectiveness of the proposed multi-constrained robust fuzzy control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Evaluating Multi-Input/Multi-Output Digital Control Systems

NASA Technical Reports Server (NTRS)

Pototzky, Anthony S.; Wieseman, Carol D.; Hoadley, Sherwood T.; Mukhopadhyay, Vivek

1994-01-01

Controller-performance-evaluation (CPE) methodology for multi-input/multi-output (MIMO) digital control systems developed. Procedures identify potentially destabilizing controllers and confirm satisfactory performance of stabilizing ones. Methodology generic and used in many types of multi-loop digital-controller applications, including digital flight-control systems, digitally controlled spacecraft structures, and actively controlled wind-tunnel models. Also applicable to other complex, highly dynamic digital controllers, such as those in high-performance robot systems.

Untangling the biological contributions to soil stability in semiarid shrublands

USGS Publications Warehouse

Chaudhary, V. Bala; Bowker, Matthew A.; O'Dell, Thomas E.; Grace, James B.; Redman, Andrea E.; Rillig, Matthias C.; Johnson, Nancy C.

2009-01-01

Communities of plants, biological soil crusts (BSCs), and arbuscular mycorrhizal (AM) fungi are known to influence soil stability individually, but their relative contributions, interactions, and combined effects are not well understood, particularly in arid and semiarid ecosystems. In a landscape-scale field study we quantified plant, BSC, and AM fungal communities at 216 locations along a gradient of soil stability levels in southern Utah, USA. We used multivariate modeling to examine the relative influences of plants, BSCs, and AM fungi on surface and subsurface stability in a semiarid shrubland landscape. Models were found to be congruent with the data and explained 35% of the variation in surface stability and 54% of the variation in subsurface stability. The results support several tentative conclusions. While BSCs, plants, and AM fungi all contribute to surface stability, only plants and AM fungi contribute to subsurface stability. In both surface and subsurface models, the strongest contributions to soil stability are made by biological components of the system. Biological soil crust cover was found to have the strongest direct effect on surface soil stability (0.60; controlling for other factors). Surprisingly, AM fungi appeared to influence surface soil stability (0.37), even though they are not generally considered to exist in the top few millimeters of the soil. In the subsurface model, plant cover appeared to have the strongest direct influence on soil stability (0.42); in both models, results indicate that plant cover influences soil stability both directly (controlling for other factors) and indirectly through influences on other organisms. Soil organic matter was not found to have a direct contribution to surface or subsurface stability in this system. The relative influence of AM fungi on soil stability in these semiarid shrublands was similar to that reported for a mesic tallgrass prairie. Estimates of effects that BSCs, plants, and AM fungi have on soil stability in these models are used to suggest the relative amounts of resources that erosion control practitioners should devote to promoting these communities. This study highlights the need for system approaches in combating erosion, soil degradation, and arid-land desertification.

Characterization and quenching of friction-induced limit cycles of electro-hydraulic servovalve control systems with transport delay.

PubMed

Wang, Yuan-Jay

2010-10-01

This paper develops a systematic and straightforward methodology to characterize and quench the friction-induced limit cycle conditions in electro-hydraulic servovalve control systems with transport delay in the transmission line. The nonlinear friction characteristic is linearized by using its corresponding describing function. The delay time in the transmission line, which could accelerate the generation of limit cycles is particularly considered. The stability equation method together with parameter plane method provides a useful tool for the establishment of necessary conditions to sustain a limit cycle directly in the constructed controller coefficient plane. Also, the stable region, the unstable region, and the limit cycle region are identified in the parameter plane. The parameter plane characterizes a clear relationship between limit cycle amplitude, frequency, transport delay, and the controller coefficients to be designed. The stability of the predicted limit cycle is checked by plotting stability curves. The stability of the system is examined when the viscous gain changes with respect to the temperature of the working fluid. A feasible stable region is characterized in the parameter plane to allow a flexible choice of controller gains. The robust prevention of limit cycle is achieved by selecting controller gains from the asymptotic stability region. The predicted results are verified by simulations. It is seen that the friction-induced limit cycles can be effectively predicted, removed, and quenched via the design of the compensator even in the case of viscous gain and delay time variations unconditionally. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Algorithms for sum-of-squares-based stability analysis and control design of uncertain nonlinear systems

NASA Astrophysics Data System (ADS)

Ataei-Esfahani, Armin

In this dissertation, we present algorithmic procedures for sum-of-squares based stability analysis and control design for uncertain nonlinear systems. In particular, we consider the case of robust aircraft control design for a hypersonic aircraft model subject to parametric uncertainties in its aerodynamic coefficients. In recent years, Sum-of-Squares (SOS) method has attracted increasing interest as a new approach for stability analysis and controller design of nonlinear dynamic systems. Through the application of SOS method, one can describe a stability analysis or control design problem as a convex optimization problem, which can efficiently be solved using Semidefinite Programming (SDP) solvers. For nominal systems, the SOS method can provide a reliable and fast approach for stability analysis and control design for low-order systems defined over the space of relatively low-degree polynomials. However, The SOS method is not well-suited for control problems relating to uncertain systems, specially those with relatively high number of uncertainties or those with non-affine uncertainty structure. In order to avoid issues relating to the increased complexity of the SOS problems for uncertain system, we present an algorithm that can be used to transform an SOS problem with uncertainties into a LMI problem with uncertainties. A new Probabilistic Ellipsoid Algorithm (PEA) is given to solve the robust LMI problem, which can guarantee the feasibility of a given solution candidate with an a-priori fixed probability of violation and with a fixed confidence level. We also introduce two approaches to approximate the robust region of attraction (RROA) for uncertain nonlinear systems with non-affine dependence on uncertainties. The first approach is based on a combination of PEA and SOS method and searches for a common Lyapunov function, while the second approach is based on the generalized Polynomial Chaos (gPC) expansion theorem combined with the SOS method and searches for parameter-dependent Lyapunov functions. The control design problem is investigated through a case study of a hypersonic aircraft model with parametric uncertainties. Through time-scale decomposition and a series of function approximations, the complexity of the aircraft model is reduced to fall within the capability of SDP solvers. The control design problem is then formulated as a convex problem using the dual of the Lyapunov theorem. A nonlinear robust controller is searched using the combined PEA/SOS method. The response of the uncertain aircraft model is evaluated for two sets of pilot commands. As the simulation results show, the aircraft remains stable under up to 50% uncertainty in aerodynamic coefficients and can follow the pilot commands.

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing

PubMed Central

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy. PMID:27148031

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing.

PubMed

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy.

Control theory analysis of a three-axis VTOL flight director. M.S. Thesis - Pennsylvania State Univ.

NASA Technical Reports Server (NTRS)

Niessen, F. R.

1971-01-01

A control theory analysis of a VTOL flight director and the results of a fixed-based simulator evaluation of the flight-director commands are discussed. The VTOL configuration selected for this study is a helicopter-type VTOL which controls the direction of the thrust vector by means of vehicle-attitude changes and, furthermore, employs high-gain attitude stabilization. This configuration is the same as one which was simulated in actual instrument flight tests with a variable stability helicopter. Stability analyses are made for each of the flight-director commands, assuming a single input-output, multi-loop system model for each control axis. The analyses proceed from the inner-loops to the outer-loops, using an analytical pilot model selected on the basis of the innermost-loop dynamics. The time response of the analytical model of the system is primarily used to adjust system gains, while root locus plots are used to identify dominant modes and mode interactions.

PID self tuning control based on Mamdani fuzzy logic control for quadrotor stabilization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Priyambodo, Tri Kuntoro, E-mail: mastri@ugm.ac.id; Putra, Agfianto Eko; Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta

Quadrotor as one type of UAV have the ability to perform Vertical Take Off and Landing (VTOL). It allows the Quadrotor to be stationary hovering in the air. PID (Proportional Integral Derivative) control system is one of the control methods that are commonly used. It is usually used to optimize the Quadrotor stabilization at least based on the three Eulerian angles (roll, pitch, and yaw) as input parameters for the control system. The three constants of PID can be obtained in various methods. The simplest method is tuning manually. This method has several weaknesses. For example if the three constantsmore » are not exact, the resulting response will deviate from the desired result. By combining the methods of PID with fuzzy logic systems where human expertise is implemented into the machine language is expected to further optimize the control system.« less

Robust Stabilization Control Based on Guardian Maps Theory for a Longitudinal Model of Hypersonic Vehicle

PubMed Central

Liu, Mengying; Sun, Peihua

2014-01-01

A typical model of hypersonic vehicle has the complicated dynamics such as the unstable states, the nonminimum phases, and the strong coupling input-output relations. As a result, designing a robust stabilization controller is essential to implement the anticipated tasks. This paper presents a robust stabilization controller based on the guardian maps theory for hypersonic vehicle. First, the guardian maps theories are provided to explain the constraint relations between the open subsets of complex plane and the eigenvalues of the state matrix of closed-loop control system. Then, a general control structure in relation to the guardian maps theories is proposed to achieve the respected design demands. Furthermore, the robust stabilization control law depending on the given general control structure is designed for the longitudinal model of hypersonic vehicle. Finally, a simulation example is provided to verify the effectiveness of the proposed methods. PMID:24795535

Robust stabilization control based on guardian maps theory for a longitudinal model of hypersonic vehicle.

PubMed

Liu, Yanbin; Liu, Mengying; Sun, Peihua

2014-01-01

A typical model of hypersonic vehicle has the complicated dynamics such as the unstable states, the nonminimum phases, and the strong coupling input-output relations. As a result, designing a robust stabilization controller is essential to implement the anticipated tasks. This paper presents a robust stabilization controller based on the guardian maps theory for hypersonic vehicle. First, the guardian maps theories are provided to explain the constraint relations between the open subsets of complex plane and the eigenvalues of the state matrix of closed-loop control system. Then, a general control structure in relation to the guardian maps theories is proposed to achieve the respected design demands. Furthermore, the robust stabilization control law depending on the given general control structure is designed for the longitudinal model of hypersonic vehicle. Finally, a simulation example is provided to verify the effectiveness of the proposed methods.

Evolving Systems and Adaptive Key Component Control

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Balas, Mark J.

2009-01-01

We propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. An introduction to Evolving Systems and exploration of the essential topics of the control and stability properties of Evolving Systems is provided. This chapter defines a framework for Evolving Systems, develops theory and control solutions for fundamental characteristics of Evolving Systems, and provides illustrative examples of Evolving Systems and their control with adaptive key component controllers.

A new smooth robust control design for uncertain nonlinear systems with non-vanishing disturbances

NASA Astrophysics Data System (ADS)

Xian, Bin; Zhang, Yao

2016-06-01

In this paper, we consider the control problem for a general class of nonlinear system subjected to uncertain dynamics and non-varnishing disturbances. A smooth nonlinear control algorithm is presented to tackle these uncertainties and disturbances. The proposed control design employs the integral of a nonlinear sigmoid function to compensate the uncertain dynamics, and achieve a uniformly semi-global practical asymptotic stable tracking control of the system outputs. A novel Lyapunov-based stability analysis is employed to prove the convergence of the tracking errors and the stability of the closed-loop system. Numerical simulation results on a two-link robot manipulator are presented to illustrate the performance of the proposed control algorithm comparing with the layer-boundary sliding mode controller and the robust of integration of sign of error control design. Furthermore, real-time experiment results for the attitude control of a quadrotor helicopter are also included to confirm the effectiveness of the proposed algorithm.

Output power stability of a HCN laser using a stepping motor for the EAST interferometer system

NASA Astrophysics Data System (ADS)

Zhang, J. B.; Wei, X. C.; Liu, H. Q.; Shen, J. J.; Zeng, L.; Jie, Y. X.

2015-11-01

The HCN laser on EAST is a continuous wave glow discharge laser with 3.4 m cavity length and 120 mW power output at 337 μ m wavelength. Without a temperature-controlled system, the cavity length of the laser is very sensitive to the environmental temperature. An external power feedback control system is applied on the HCN laser to stabilize the laser output power. The feedback system is composed of a stepping motor, a PLC, a supervisory computer, and the corresponding control program. One step distance of the stepping motor is 1 μ m and the time response is 0.5 s. Based on the power feedback control system, a stable discharge for the HCN laser is obtained more than eight hours, which satisfies the EAST experiment.

Linear control of the flywheel inverted pendulum.

PubMed

Olivares, Manuel; Albertos, Pedro

2014-09-01

The flywheel inverted pendulum is an underactuated mechanical system with a nonlinear model but admitting a linear approximation around the unstable equilibrium point in the upper position. Although underactuated systems usually require nonlinear controllers, the easy tuning and understanding of linear controllers make them more attractive for designers and final users. In a recent paper, a simple PID controller was proposed by the authors, leading to an internally unstable controlled plant. To achieve global stability, two options are developed here: first by introducing an internal stabilizing controller and second by replacing the PID controller by an observer-based state feedback control. Simulation and experimental results show the effectiveness of the design. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Anfis Approach for Sssc Controller Design for the Improvement of Transient Stability Performance

NASA Astrophysics Data System (ADS)

Khuntia, Swasti R.; Panda, Sidhartha

2011-06-01

In this paper, Adaptive Neuro-Fuzzy Inference System (ANFIS) method based on the Artificial Neural Network (ANN) is applied to design a Static Synchronous Series Compensator (SSSC)-based controller for improvement of transient stability. The proposed ANFIS controller combines the advantages of fuzzy controller and quick response and adaptability nature of ANN. The ANFIS structures were trained using the generated database by fuzzy controller of SSSC. It is observed that the proposed SSSC controller improves greatly the voltage profile of the system under severe disturbances. The results prove that the proposed SSSC-based ANFIS controller is found to be robust to fault location and change in operating conditions. Further, the results obtained are compared with the conventional lead-lag controllers for SSSC.

Development of model-based control for Bridgman crystal growth

NASA Astrophysics Data System (ADS)

Sonda, Paul; Yeckel, Andrew; Daoutidis, Prodromos; Derby, Jeffrey. J.

2004-05-01

We study the feasibility of using crucible rotation with feedback control to suppress oscillatory flows in two prototypical vertical Bridgman crystal growth systems—a stabilizing configuration driven by a time-oscillatory furnace disturbance and a thermally destabilized configuration, which exhibits inherent time-varying flows. Proportional controllers are applied to the two systems, with volume-averaged flow speed chosen as the single controlled output and crucible rotation chosen as the manipulated input. Proportional control is able to significantly suppress oscillations in the stabilizing configuration. For the destabilized case, control is effective for small-amplitude flows but is generally ineffective, due to the exacerbating effect of crucible rotation on the time-dependent flows exhibited by this system.

A novel control architecture for physiological tremor compensation in teleoperated systems.

PubMed

Ghorbanian, A; Zareinejad, M; Rezaei, S M; Sheikhzadeh, H; Baghestan, K

2013-09-01

Telesurgery delivers surgical care to a 'remote' patient by means of robotic manipulators. When accurate positioning of the surgeon's tool is required, as in microsurgery, physiological tremor causes unwanted imprecision during a surgical operation. Accurate estimation/compensation of physiological tremor in teleoperation systems has been shown to improve performance during telesurgery. A new control architecture is proposed for estimation and compensation of physiological tremor in the presence of communication time delays. This control architecture guarantees stability with satisfactory transparency. In addition, the proposed method can be used for applications that require modifications in transmitted signals through communication channels. Stability of the bilateral tremor-compensated teleoperation is preserved by extending the bilateral teleoperation to the equivalent trilateral Dual-master/Single-slave teleoperation. The bandlimited multiple Fourier linear combiner (BMFLC) algorithm is employed for real-time estimation of the operator's physiological tremor. Two kinds of stability analysis are employed. In the model-base controller, Llewellyn's Criterion is used to analyze the teleoperation absolute stability. In the second method, a nonmodel-based controller is proposed and the stability of the time-delayed teleoperated system is proved by employing a Lyapunov function. Experimental results are presented to validate the effectiveness of the new control architecture. The tremorous motion is measured by accelerometer to be compensated in real time. In addition, a Needle-Insertion setup is proposed as a slave robot for the application of brachytherapy, in which the needle penetrates in the desired position. The slave performs the desired task in two classes of environments (free motion of the slave and in the soft tissue). Experiments show that the proposed control architecture effectively compensates the user's tremorous motion and the slave follows only the master's voluntary motion in a stable manner. Copyright © 2012 John Wiley & Sons, Ltd.

Design and evaluation of an optical fine-pointing control system for telescopes utilizing a digital star sensor

NASA Technical Reports Server (NTRS)

Ostroff, A. J.; Romanczyk, K. C.

1973-01-01

One of the most significant problems associated with the development of large orbiting astronomical telescopes is that of maintaining the very precise pointing accuracy required. A proposed solution to this problem utilizes dual-level pointing control. The primary control system maintains the telescope structure attitude stabilized within the field of view to the desired accuracy. In order to demonstrate the feasibility of optically stabilizing the star images to the desired accuracy a regulating system has been designed and evaluated. The control system utilizes a digital star sensor and an optical star image motion compensator, both of which have been developed for this application. These components have been analyzed mathematically, analytical models have been developed, and hardware has been built and tested.

Missile Interceptor Guidance System Technology (La Technologie Pour Les Systemes De Guidage Des Missiles Intercepteurs (DE Missiles Ou D’Aeronefs)

DTIC Science & Technology

1990-01-01

robustness of feedback systems with structured uncertainty. Theorem: Robust Stability Fu(G,A) stable V AA iff suP (Gll(JW))Sl. Theorem: Robust ...through a gain KR. The addition of other dynamics and feedback paths creates stabilization problems for this simple roll attitude feedback control...characteristics are most useful to the designer when examined in the frequency domain. Both relative stability and robustness can be determined from an

Practical robustness measures in multivariable control system analysis. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lehtomaki, N. A.

1981-01-01

The robustness of the stability of multivariable linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria. Available robustness tests are unified under a common framework based on the nature and structure of model errors. These results are derived using a multivariable version of Nyquist's stability theorem in which the minimum singular value of the return difference transfer matrix is shown to be the multivariable generalization of the distance to the critical point on a single input, single output Nyquist diagram. Using the return difference transfer matrix, a very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived. The robustness tests that explicitly utilized model error structure are able to guarantee feedback system stability in the face of model errors of larger magnitude than those robustness tests that do not. The robustness of linear quadratic Gaussian control systems are analyzed.

STS-99 Shuttle Radar Topography Mission Stability and Control

NASA Technical Reports Server (NTRS)

Hamelin, Jennifer L.; Jackson, Mark C.; Kirchwey, Christopher B.; Pileggi, Roberto A.

2001-01-01

The Shuttle Radar Topography Mission (SRTM) flew aboard Space Shuttle Endeavor February 2000 and used interferometry to map 80% of the Earth's landmass. SRTM employed a 200-foot deployable mast structure to extend a second antenna away from the main antenna located in the Shuttle payload bay. Mapping requirements demanded precision pointing and orbital trajectories from the Shuttle on-orbit Flight Control System (PCS). Mast structural dynamics interaction with the FCS impacted stability and performance of the autopilot for attitude maneuvers and pointing during mapping operations. A damper system added to ensure that mast tip motion remained with in the limits of the outboard antenna tracking system while mapping also helped to mitigate structural dynamic interaction with the FCS autopilot. Late changes made to the payload damper system, which actually failed on-orbit, required a redesign and verification of the FCS autopilot filtering schemes necessary to ensure rotational control stability. In-flight measurements using three sensors were used to validate models and gauge the accuracy and robustness of the pre-mission notch filter design.

Vehicle States Observer Using Adaptive Tire-Road Friction Estimator

NASA Astrophysics Data System (ADS)

Kwak, Byunghak; Park, Youngjin

Vehicle stability control system is a new idea which can enhance the vehicle stability and handling in the emergency situation. This system requires the information of the yaw rate, sideslip angle and road friction in order to control the traction and braking forces at the individual wheels. This paper proposes an observer for the vehicle stability control system. This observer consisted of the state observer for vehicle motion estimation and the road condition estimator for the identification of the coefficient of the road friction. The state observer uses 2 degrees-of-freedom bicycle model and estimates the system variables based on the Kalman filter. The road condition estimator uses the same vehicle model and identifies the coefficient of the tire-road friction based on the recursive least square method. Both estimators make use of each other information. We show the effectiveness and feasibility of the proposed scheme under various road conditions through computer simulations of a fifteen degree-of-freedom non-linear vehicle model.

Stability and performance of notch filter control for unbalance response

NASA Technical Reports Server (NTRS)

Knospe, C. R.

1992-01-01

Many current applications of magnetic bearings for rotating machinery employ notch filters in the feedback control loop to reduce the synchronous forces transmitted through the bearings. The capabilities and limitations of notch filter control are investigated. First, a rigid rotor is examined with some classical root locus techniques. Notch filter control is shown to result in conditional stability whenever complete synchronous attenuation is required. Next, a nondimensional parametric symmetric flexible three mass rotor model is constructed. An examination of this model for several test cases illustrates the limited attenuation possible with notch filters at and near the system critical speeds when the bearing damping is low. The notch filter's alteration of the feedback loop is shown to cause stability problems which limits performance. Poor transient response may also result. A high speed compressor is then examined as a candidate for notch filter control. A collocated 22 mass station model with lead-lag control is used. The analysis confirms the reduction in stability robustness that can occur with notch filter control. It is concluded that other methods of synchronous vibration control yield greater performance without compromising stability.

Increasing the stability of the articulated lorry at braking by locking the fifth wheel coupling

NASA Astrophysics Data System (ADS)

Skotnikov, G. I.; Jileykin, M. M.; Komissarov, A. I.

2018-02-01

The jackknifing of the articulated lorry is determined by the loss of stability with respect to the vertical axis of the fifth wheel coupling, which can be caused by the failure of the brake system, the displacement of the center of mass of the semitrailer or tractor from the longitudinal axis of the vehicle, the road parameters (longitudinal and transverse slopes), the difference in the friction coefficients under the sides of the articulated lorry. In this regard, the issue of creating devices that prevent the jackknifing, and their control systems is important. A method is proposed for maintaining the stability of the movement of articulated lorry when braking both on a straight line and in a turn by blocking the relative rotation of the tractor and the trailer. Blocking occurs due to the creation of a stabilizing moment in the direction opposite to the angular rate of folding. To test the developed algorithm for locking the fifth wheel coupling, a mathematical model of the spatial motion of the articulated lorry was developed, including the models of interaction of an elastic tire with a rigid terrain, suspension systems, transmission, steering, fifth-wheel coupling. The efficiency and effectiveness of the coupling locking control system is proved by comparing the results of the simulation of a straight-line braking and braking in turn. It is shown that the application of the control system significantly increases the stability of the road train.

Stability Analysis of Distributed Engine Control Systems Under Communication Packet Drop (Postprint)

DTIC Science & Technology

2008-07-01

use, modify, reproduce, release, perform, display, or disclose the work. 14. ABSTRACT Currently, Full Authority Digital Engine Control ( FADEC ...based on a centralized architecture framework is being widely used for gas turbine engine control. However, current FADEC is not able to meet the...system (DEC). FADEC based on Distributed Control Systems (DCS) offers modularity, improved control systems prognostics and fault tolerance along with

Hybrid supervisory control using recurrent fuzzy neural network for tracking periodic inputs.

PubMed

Lin, F J; Wai, R J; Hong, C M

2001-01-01

A hybrid supervisory control system using a recurrent fuzzy neural network (RFNN) is proposed to control the mover of a permanent magnet linear synchronous motor (PMLSM) servo drive for the tracking of periodic reference inputs. First, the field-oriented mechanism is applied to formulate the dynamic equation of the PMLSM. Then, a hybrid supervisory control system, which combines a supervisory control system and an intelligent control system, is proposed to control the mover of the PMLSM for periodic motion. The supervisory control law is designed based on the uncertainty bounds of the controlled system to stabilize the system states around a predefined bound region. Since the supervisory control law will induce excessive and chattering control effort, the intelligent control system is introduced to smooth and reduce the control effort when the system states are inside the predefined bound region. In the intelligent control system, the RFNN control is the main tracking controller which is used to mimic a idea control law and a compensated control is proposed to compensate the difference between the idea control law and the RFNN control. The RFNN has the merits of fuzzy inference, dynamic mapping and fast convergence speed, In addition, an online parameter training methodology, which is derived using the Lyapunov stability theorem and the gradient descent method, is proposed to increase the learning capability of the RFNN. The proposed hybrid supervisory control system using RFNN can track various periodic reference inputs effectively with robust control performance.

Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.

PubMed

Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

2016-05-09

In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

Practical aspects of modeling aircraft dynamics from flight data

NASA Technical Reports Server (NTRS)

Iliff, K. W.; Maine, R. E.

1984-01-01

The purpose of parameter estimation, a subset of system identification, is to estimate the coefficients (such as stability and control derivatives) of the aircraft differential equations of motion from sampled measured dynamic responses. In the past, the primary reason for estimating stability and control derivatives from flight tests was to make comparisons with wind tunnel estimates. As aircraft became more complex, and as flight envelopes were expanded to include flight regimes that were not well understood, new requirements for the derivative estimates evolved. For many years, the flight determined derivatives were used in simulations to aid in flight planning and in pilot training. The simulations were particularly important in research flight test programs in which an envelope expansion into new flight regimes was required. Parameter estimation techniques for estimating stability and control derivatives from flight data became more sophisticated to support the flight test programs. As knowledge of these new flight regimes increased, more complex aircraft were flown. Much of this increased complexity was in sophisticated flight control systems. The design and refinement of the control system required higher fidelity simulations than were previously required.

Application of long-term simulation programs for analysis of system islanding

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sancha, J.L.; Llorens, M.L.; Moreno, J.M.

1997-02-01

This paper describes the main results and conclusions from the application of two different long-term stability programs to the analysis of a system islanding scenario for a study case developed by Red Electrica de Espana (REE), based on the Spanish system. Two main goals were to evaluate the performance of both the influence of some important control and protection elements (tie-line loss-of-synchronism relays, underfrequency load-shedding, load-frequency control, and power plant dynamics). Conclusions about modeling and computational requirements for system islanding (frequency) scenarios and use of long-term stability programs are presented.

A Lie algebraic condition for exponential stability of discrete hybrid systems and application to hybrid synchronization.

PubMed

Zhao, Shouwei

2011-06-01

A Lie algebraic condition for global exponential stability of linear discrete switched impulsive systems is presented in this paper. By considering a Lie algebra generated by all subsystem matrices and impulsive matrices, when not all of these matrices are Schur stable, we derive new criteria for global exponential stability of linear discrete switched impulsive systems. Moreover, simple sufficient conditions in terms of Lie algebra are established for the synchronization of nonlinear discrete systems using a hybrid switching and impulsive control. As an application, discrete chaotic system's synchronization is investigated by the proposed method.

A robot control architecture supported on contraction theory

NASA Astrophysics Data System (ADS)

Silva, Jorge; Sequeira, João; Santos, Cristina

2017-01-01

This paper proposes fundamentals for stability and success of a global system composed by a mobile robot, a real environment and a navigation architecture with time constraints. Contraction theory is a typical framework that provides tools and properties to prove the stability and convergence of the global system to a unique fixed point that identifies the mission success. A stability indicator based on the combination contraction property is developed to identify the mission success as a stability measure. The architecture is fully designed through C1 nonlinear dynamical systems and feedthrough maps, which makes it amenable for contraction analysis. Experiments in a realistic and uncontrolled environment are realised to verify if inherent perturbations of the sensory information and of the environment affect the stability and success of the global system.

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System

PubMed Central

Belmonte, Lidia María; Morales, Rafael; Fernández-Caballero, Antonio; Somolinos, José Andrés

2016-01-01

This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks. PMID:27472338

Uncertainty analysis and robust trajectory linearization control of a flexible air-breathing hypersonic vehicle

NASA Astrophysics Data System (ADS)

Pu, Zhiqiang; Tan, Xiangmin; Fan, Guoliang; Yi, Jianqiang

2014-08-01

Flexible air-breathing hypersonic vehicles feature significant uncertainties which pose huge challenges to robust controller designs. In this paper, four major categories of uncertainties are analyzed, that is, uncertainties associated with flexible effects, aerodynamic parameter variations, external environmental disturbances, and control-oriented modeling errors. A uniform nonlinear uncertainty model is explored for the first three uncertainties which lumps all uncertainties together and consequently is beneficial for controller synthesis. The fourth uncertainty is additionally considered in stability analysis. Based on these analyses, the starting point of the control design is to decompose the vehicle dynamics into five functional subsystems. Then a robust trajectory linearization control (TLC) scheme consisting of five robust subsystem controllers is proposed. In each subsystem controller, TLC is combined with the extended state observer (ESO) technique for uncertainty compensation. The stability of the overall closed-loop system with the four aforementioned uncertainties and additional singular perturbations is analyzed. Particularly, the stability of nonlinear ESO is also discussed from a Liénard system perspective. At last, simulations demonstrate the great control performance and the uncertainty rejection ability of the robust scheme.

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System.

PubMed

Belmonte, Lidia María; Morales, Rafael; Fernández-Caballero, Antonio; Somolinos, José Andrés

2016-07-27

This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks.

Stability Assessment of a System Comprising a Single Machine and Inverter with Scalable Ratings

DOE Office of Scientific and Technical Information (OSTI.GOV)

Johnson, Brian B; Lin, Yashen; Gevorgian, Vahan

Synchronous machines have traditionally acted as the foundation of large-scale electrical infrastructures and their physical properties have formed the cornerstone of system operations. However, with the increased integration of distributed renewable resources and energy-storage technologies, there is a need to systematically acknowledge the dynamics of power-electronics inverters - the primary energy-conversion interface in such systems - in all aspects of modeling, analysis, and control of the bulk power network. In this paper, we assess the properties of coupled machine-inverter systems by studying an elementary system comprised of a synchronous generator, three-phase inverter, and a load. The inverter model is formulatedmore » such that its power rating can be scaled continuously across power levels while preserving its closed-loop response. Accordingly, the properties of the machine-inverter system can be assessed for varying ratios of machine-to-inverter power ratings. After linearizing the model and assessing its eigenvalues, we show that system stability is highly dependent on the inverter current controller and machine exciter, thus uncovering a key concern with mixed machine-inverter systems and motivating the need for next-generation grid-stabilizing inverter controls.« less

Constrained off-line synthesis approach of model predictive control for networked control systems with network-induced delays.

PubMed

Tang, Xiaoming; Qu, Hongchun; Wang, Ping; Zhao, Meng

2015-03-01

This paper investigates the off-line synthesis approach of model predictive control (MPC) for a class of networked control systems (NCSs) with network-induced delays. A new augmented model which can be readily applied to time-varying control law, is proposed to describe the NCS where bounded deterministic network-induced delays may occur in both sensor to controller (S-A) and controller to actuator (C-A) links. Based on this augmented model, a sufficient condition of the closed-loop stability is derived by applying the Lyapunov method. The off-line synthesis approach of model predictive control is addressed using the stability results of the system, which explicitly considers the satisfaction of input and state constraints. Numerical example is given to illustrate the effectiveness of the proposed method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Stability Limits of a PD Controller for a Flywheel Supported on Rigid Rotor and Magnetic Bearings

NASA Technical Reports Server (NTRS)

Kascak, Albert F.; Brown, Gerald V.; Jansen, Ralph H.; Dever, TImothy P.

2006-01-01

Active magnetic bearings are used to provide a long-life, low-loss suspension of a high-speed flywheel rotor. This paper describes a modeling effort used to understand the stability boundaries of the PD controller used to control the active magnetic bearings on a high speed test rig. Limits of stability are described in terms of allowable stiffness and damping values which result in stable levitation of the nonrotating rig. Small signal stability limits for the system is defined as a nongrowth in vibration amplitude of a small disturbance. A simple mass-force model was analyzed. The force resulting from the magnetic bearing was linearized to include negative displacement stiffness and a current stiffness. The current stiffness was then used in a PD controller. The phase lag of the control loop was modeled by a simple time delay. The stability limits and the associated vibration frequencies were measured and compared to the theoretical values. The results show a region on stiffness versus damping plot that have the same qualitative tendencies as experimental measurements. The resulting stability model was then extended to a flywheel system. The rotor dynamics of the flywheel was modeled using a rigid rotor supported on magnetic bearings. The equations of motion were written for the center of mass and a small angle linearization of the rotations about the center of mass. The stability limits and the associated vibration frequencies were found as a function of nondimensional magnetic bearing stiffness and damping and nondimensional parameters of flywheel speed and time delay.

Design of a completely model free adaptive control in the presence of parametric, non-parametric uncertainties and random control signal delay.

PubMed

Tutsoy, Onder; Barkana, Duygun Erol; Tugal, Harun

2018-05-01

In this paper, an adaptive controller is developed for discrete time linear systems that takes into account parametric uncertainty, internal-external non-parametric random uncertainties, and time varying control signal delay. Additionally, the proposed adaptive control is designed in such a way that it is utterly model free. Even though these properties are studied separately in the literature, they are not taken into account all together in adaptive control literature. The Q-function is used to estimate long-term performance of the proposed adaptive controller. Control policy is generated based on the long-term predicted value, and this policy searches an optimal stabilizing control signal for uncertain and unstable systems. The derived control law does not require an initial stabilizing control assumption as in the ones in the recent literature. Learning error, control signal convergence, minimized Q-function, and instantaneous reward are analyzed to demonstrate the stability and effectiveness of the proposed adaptive controller in a simulation environment. Finally, key insights on parameters convergence of the learning and control signals are provided. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.