Some aspects of control of a large-scale dynamic system

NASA Technical Reports Server (NTRS)

Aoki, M.

1975-01-01

Techniques of predicting and/or controlling the dynamic behavior of large scale systems are discussed in terms of decentralized decision making. Topics discussed include: (1) control of large scale systems by dynamic team with delayed information sharing; (2) dynamic resource allocation problems by a team (hierarchical structure with a coordinator); and (3) some problems related to the construction of a model of reduced dimension.

Phase Control in Nonlinear Systems

NASA Astrophysics Data System (ADS)

Zambrano, Samuel; Seoane, Jesús M.; Mariño, Inés P.; Sanjuán, Miguel A. F.; Meucci, Riccardo

The following sections are included: * Introduction * Phase Control of Chaos * Description of the model * Numerical exploration of phase control of chaos * Experimental evidence of phase control of chaos * Phase Control of Intermittency in Dynamical Systems * Crisis-induced intermittency and its control * Experimental setup and implementation of the phase control scheme * Phase control of the laser in the pre-crisis regime * Phase control of the intermittency after the crisis * Phase control of the intermittency in the quadratic map * Phase Control of Escapes in Open Dynamical Systems * Control of open dynamical systems * Model description * Numerical simulations and heuristic arguments * Experimental implementation in an electronic circuit * Conclusions and Discussions * Acknowledgments * References

Dynamic Programming Method for Impulsive Control Problems

ERIC Educational Resources Information Center

Balkew, Teshome Mogessie

2015-01-01

In many control systems changes in the dynamics occur unexpectedly or are applied by a controller as needed. The time at which a controller implements changes is not necessarily known a priori. For example, many manufacturing systems and flight operations have complicated control systems, and changes in the control systems may be automatically…

An Analytical Dynamics Approach to the Control of Mechanical Systems

NASA Astrophysics Data System (ADS)

Mylapilli, Harshavardhan

A new and novel approach to the control of nonlinear mechanical systems is presented in this study. The approach is inspired by recent results in analytical dynamics that deal with the theory of constrained motion. The control requirements on the dynamical system are viewed from an analytical dynamics perspective and the theory of constrained motion is used to recast these control requirements as constraints on the dynamical system. Explicit closed form expressions for the generalized nonlinear control forces are obtained by using the fundamental equation of mechanics. The control so obtained is optimal at each instant of time and causes the constraints to be exactly satisfied. No linearizations and/or approximations of the nonlinear dynamical system are made, and no a priori structure is imposed on the nature of nonlinear controller. Three examples dealing with highly nonlinear complex dynamical systems that are chosen from diverse areas of discrete and continuum mechanics are presented to demonstrate the control approach. The first example deals with the energy control of underactuated inhomogeneous nonlinear lattices (or chains), the second example deals with the synchronization of the motion of multiple coupled slave gyros with that of a master gyro, and the final example deals with the control of incompressible hyperelastic rubber-like thin cantilever beams. Numerical simulations accompanying these examples show the ease, simplicity and the efficacy with which the control methodology can be applied and the accuracy with which the desired control objectives can be met.

Experiments in cooperative manipulation: A system perspective

NASA Technical Reports Server (NTRS)

Schneider, Stanley A.; Cannon, Robert H., Jr.

1989-01-01

In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force.

Dynamics and controls in maglev systems

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

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

1992-09-01

The dynamic response of magnetically levitated (maglev) ground transportation systems has important consequences for safety and ride quality, guideway design, and system costs. Ride quality is determined by vehicle response and by environmental factors such as humidity and noise. The dynamic response of the vehicles is the key element in determining ride quality, and vehicle stability is an important safety-related element. To design a proper guideway that provides acceptable ride quality in the stable region, vehicle dynamics must be understood. Furthermore the trade-off between guideway smoothness and the levitation and control systems must be considered if maglev systems are tomore » be economically feasible. The link between the guideway and the other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. In this study, the role of dynamics and controls in maglev vehicle/guideway interactions is discussed, and the literature on modeling the dynamic interactions of vehicle/guideway and suspension controls for ground vehicles is reviewed. Particular emphasis is placed on modeling vehicle/guideway interactions and response characteristics of maglev systems for a multicar, multiload vehicle traveling on a single- or doublespan flexible guideway, including coupling effects of vehicle/guideway, comparison of concentrated and distributed loads, and ride comfort. Different control-law designs are introduced into vehicle suspensions when a simple two-degree-of-freedom vehicle model is applied. Active and semiactive control designs for primary and secondary suspensions do improve the response of vehicle and provide acceptable ride comfort. Finally, future research associated with dynamics and controls of vehicle/guideway systems is identified.« less

Satellite Dynamic Damping via Active Force Control Augmentation

NASA Astrophysics Data System (ADS)

Varatharajoo, Renuganth

2012-07-01

An approach that incorporates the Active Force Control (AFC) technique into a conventional Proportional-Derivative (PD) controller is proposed for a satellite active dynamic damping towards a full attitude control. The AFC method has been established to facilitate a robust motion control of dynamical systems in the presence of disturbances, parametric uncertainties and changes that are commonly prevalent in the real-world environment. The usefulness of the method can be extended by introducing intelligent mechanisms to approximate the mass or inertia matrix of the dynamic system to trigger the compensation effect of the controller. AFC is a technique that relies on the appropriate estimation of the inertial or mass parameters of the dynamic system and the measurements of the acceleration and force signals induced by the system if practical implementation is ever considered. In AFC, it is shown that the system subjected to a number of disturbances remains stable and robust via the compensating action of the control strategy. We demonstrate that it is possible to design a spacecraft attitude feedback controller that will ensure the system dynamics set point remains unchanged even in the presence of the disturbances provided that the actual disturbances can be modeled effectively. In order to further facilitate this analysis, a combined energy and attitude control system (CEACS) is proposed as a model satellite attitude control actuator. All the governing equations are established and the proposed satellite attitude control architecture is made amenable to numerical treatments. The results show that the PD-AFC attitude damping performances are superiorly better than that of the solely PD type. It is also shown that the tunings of the AFC system gains are crucial to ensure a better attitude damping performance and this process is mandatory for AFC systems. Finally, the results demonstrate an important satellite dynamic damping enhancement capability using the AFC technique. Keywords: Satellite, Dynamic Damping, Attitude Control, AFC Technique,

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-01

VEHICLE IN AN OFF-ROAD SCENARIO USING INTEGRATED SENSOR, CONTROLLER, AND MULTI-BODY DYNAMICS Paramsothy Jayakumar , PhD William Smith US Army...environment for a control system, mechanical system dynamics , and sensor simulation for an improved assessment of the vehicle system performance...improve vehicle dynamic performance; we must also evaluate and improve the sensor suite employed on the vehicle, and the controller used to operate

On the dynamic singularities in the control of free-floating space manipulators

NASA Technical Reports Server (NTRS)

Papadopoulos, E.; Dubowsky, S.

1989-01-01

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform.

PubMed

Zhou, Xiangyang; Zhao, Beilei; Gong, Guohao

2015-08-14

This paper presents a method based on co-simulation of a mechatronic system to optimize the control parameters of a two-axis inertially stabilized platform system (ISP) applied in an unmanned airship (UA), by which high control performance and reliability of the ISP system are achieved. First, a three-dimensional structural model of the ISP is built by using the three-dimensional parametric CAD software SOLIDWORKS(®); then, to analyze the system's kinematic and dynamic characteristics under operating conditions, dynamics modeling is conducted by using the multi-body dynamics software ADAMS™, thus the main dynamic parameters such as displacement, velocity, acceleration and reaction curve are obtained, respectively, through simulation analysis. Then, those dynamic parameters were input into the established MATLAB(®) SIMULINK(®) controller to simulate and test the performance of the control system. By these means, the ISP control parameters are optimized. To verify the methods, experiments were carried out by applying the optimized parameters to the control system of a two-axis ISP. The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance.

Dynamical Motor Control Learned with Deep Deterministic Policy Gradient

PubMed Central

2018-01-01

Conventional models of motor control exploit the spatial representation of the controlled system to generate control commands. Typically, the control command is gained with the feedback state of a specific instant in time, which behaves like an optimal regulator or spatial filter to the feedback state. Yet, recent neuroscience studies found that the motor network may constitute an autonomous dynamical system and the temporal patterns of the control command can be contained in the dynamics of the motor network, that is, the dynamical system hypothesis (DSH). Inspired by these findings, here we propose a computational model that incorporates this neural mechanism, in which the control command could be unfolded from a dynamical controller whose initial state is specified with the task parameters. The model is trained in a trial-and-error manner in the framework of deep deterministic policy gradient (DDPG). The experimental results show that the dynamical controller successfully learns the control policy for arm reaching movements, while the analysis of the internal activities of the dynamical controller provides the computational evidence to the DSH of the neural coding in motor cortices. PMID:29666634

Dynamical Motor Control Learned with Deep Deterministic Policy Gradient.

PubMed

Shi, Haibo; Sun, Yaoru; Li, Jie

2018-01-01

Conventional models of motor control exploit the spatial representation of the controlled system to generate control commands. Typically, the control command is gained with the feedback state of a specific instant in time, which behaves like an optimal regulator or spatial filter to the feedback state. Yet, recent neuroscience studies found that the motor network may constitute an autonomous dynamical system and the temporal patterns of the control command can be contained in the dynamics of the motor network, that is, the dynamical system hypothesis (DSH). Inspired by these findings, here we propose a computational model that incorporates this neural mechanism, in which the control command could be unfolded from a dynamical controller whose initial state is specified with the task parameters. The model is trained in a trial-and-error manner in the framework of deep deterministic policy gradient (DDPG). The experimental results show that the dynamical controller successfully learns the control policy for arm reaching movements, while the analysis of the internal activities of the dynamical controller provides the computational evidence to the DSH of the neural coding in motor cortices.

AirSTAR: A UAV Platform for Flight Dynamics and Control System Testing

NASA Technical Reports Server (NTRS)

Jordan, Thomas L.; Foster, John V.; Bailey, Roger M.; Belcastro, Christine M.

2006-01-01

As part of the NASA Aviation Safety Program at Langley Research Center, a dynamically scaled unmanned aerial vehicle (UAV) and associated ground based control system are being developed to investigate dynamics modeling and control of large transport vehicles in upset conditions. The UAV is a 5.5% (seven foot wingspan), twin turbine, generic transport aircraft with a sophisticated instrumentation and telemetry package. A ground based, real-time control system is located inside an operations vehicle for the research pilot and associated support personnel. The telemetry system supports over 70 channels of data plus video for the downlink and 30 channels for the control uplink. Data rates are in excess of 200 Hz. Dynamic scaling of the UAV, which includes dimensional, weight, inertial, actuation, and control system scaling, is required so that the sub-scale vehicle will realistically simulate the flight characteristics of the full-scale aircraft. This testbed will be utilized to validate modeling methods, flight dynamics characteristics, and control system designs for large transport aircraft, with the end goal being the development of technologies to reduce the fatal accident rate due to loss-of-control.

Adaptive pseudolinear compensators of dynamic characteristics of automatic control systems

NASA Astrophysics Data System (ADS)

Skorospeshkin, M. V.; Sukhodoev, M. S.; Timoshenko, E. A.; Lenskiy, F. V.

2016-04-01

Adaptive pseudolinear gain and phase compensators of dynamic characteristics of automatic control systems are suggested. The automatic control system performance with adaptive compensators has been explored. The efficiency of pseudolinear adaptive compensators in the automatic control systems with time-varying parameters has been demonstrated.

Reinforcement learning for partially observable dynamic processes: adaptive dynamic programming using measured output data.

PubMed

Lewis, F L; Vamvoudakis, Kyriakos G

2011-02-01

Approximate dynamic programming (ADP) is a class of reinforcement learning methods that have shown their importance in a variety of applications, including feedback control of dynamical systems. ADP generally requires full information about the system internal states, which is usually not available in practical situations. In this paper, we show how to implement ADP methods using only measured input/output data from the system. Linear dynamical systems with deterministic behavior are considered herein, which are systems of great interest in the control system community. In control system theory, these types of methods are referred to as output feedback (OPFB). The stochastic equivalent of the systems dealt with in this paper is a class of partially observable Markov decision processes. We develop both policy iteration and value iteration algorithms that converge to an optimal controller that requires only OPFB. It is shown that, similar to Q -learning, the new methods have the important advantage that knowledge of the system dynamics is not needed for the implementation of these learning algorithms or for the OPFB control. Only the order of the system, as well as an upper bound on its "observability index," must be known. The learned OPFB controller is in the form of a polynomial autoregressive moving-average controller that has equivalent performance with the optimal state variable feedback gain.

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.

Similarity Metrics for Closed Loop Dynamic Systems

NASA Technical Reports Server (NTRS)

Whorton, Mark S.; Yang, Lee C.; Bedrossian, Naz; Hall, Robert A.

2008-01-01

To what extent and in what ways can two closed-loop dynamic systems be said to be "similar?" This question arises in a wide range of dynamic systems modeling and control system design applications. For example, bounds on error models are fundamental to the controller optimization with modern control design methods. Metrics such as the structured singular value are direct measures of the degree to which properties such as stability or performance are maintained in the presence of specified uncertainties or variations in the plant model. Similarly, controls-related areas such as system identification, model reduction, and experimental model validation employ measures of similarity between multiple realizations of a dynamic system. Each area has its tools and approaches, with each tool more or less suited for one application or the other. Similarity in the context of closed-loop model validation via flight test is subtly different from error measures in the typical controls oriented application. Whereas similarity in a robust control context relates to plant variation and the attendant affect on stability and performance, in this context similarity metrics are sought that assess the relevance of a dynamic system test for the purpose of validating the stability and performance of a "similar" dynamic system. Similarity in the context of system identification is much more relevant than are robust control analogies in that errors between one dynamic system (the test article) and another (the nominal "design" model) are sought for the purpose of bounding the validity of a model for control design and analysis. Yet system identification typically involves open-loop plant models which are independent of the control system (with the exception of limited developments in closed-loop system identification which is nonetheless focused on obtaining open-loop plant models from closed-loop data). Moreover the objectives of system identification are not the same as a flight test and hence system identification error metrics are not directly relevant. In applications such as launch vehicles where the open loop plant is unstable it is similarity of the closed-loop system dynamics of a flight test that are relevant.

Interaction of feel system and flight control system dynamics on lateral flying qualities

NASA Technical Reports Server (NTRS)

Bailey, Randall E.; Powers, Bruce G.; Shafer, Mary F.

1988-01-01

An investigation of feel system and flight control system dynamics on lateral flying qualities was conducted using the variable stability USAF NT-33 aircraft. Experimental variations in feel system natural frequency, force-deflection gradient, control system command architecture type, flight control system filter frequency, and control system delay were made. The experiment data include pilot ratings using the Cooper-Harper (1969) rating scale, pilot comments, and tracking performance statistic. Three test pilots served as evaluators. The data indicate that as the feel system natural frequency is reduced lateral flying qualities degrade. At the slowest feel system frequency, the closed-loop response becomes nonlinear with a 'bobweight' effect apparent in the feel system. Feel system influences were essentially independent of the control system architecture. The flying qualities influence due to the feel system was different than when the identical dynamic systenm was used as a flight control system element.

Nonlinear optimal control for the synchronization of chaotic and hyperchaotic finance systems

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Loia, V.; Ademi, S.; Ghosh, T.

2017-11-01

It is possible to make specific finance systems get synchronized to other finance systems exhibiting chaotic and hyperchaotic dynamics, by applying nonlinear optimal (H-infinity) control. This signifies that chaotic behavior can be generated in finance systems by exerting a suitable control input. Actually, a lead financial system is considered which exhibits inherently chaotic dynamics. Moreover, a follower finance system is introduced having parameters in its model that inherently prohibit the appearance of chaotic dynamics. Through the application of a suitable nonlinear optimal (H-infinity) control input it is proven that the follower finance system can replicate the chaotic dynamics of the lead finance system. By applying Lyapunov analysis it is proven that asymptotically the follower finance system gets synchronized with the lead system and that the tracking error between the state variables of the two systems vanishes.

Toward experimental validation of a model for human sensorimotor learning and control in teleoperation

NASA Astrophysics Data System (ADS)

Roth, Eatai; Howell, Darrin; Beckwith, Cydney; Burden, Samuel A.

2017-05-01

Humans, interacting with cyber-physical systems (CPS), formulate beliefs about the system's dynamics. It is natural to expect that human operators, tasked with teleoperation, use these beliefs to control the remote robot. For tracking tasks in the resulting human-cyber-physical system (HCPS), theory suggests that human operators can achieve exponential tracking (in stable systems) without state estimation provided they possess an accurate model of the system's dynamics. This internalized inverse model, however, renders a portion of the system state unobservable to the human operator—the zero dynamics. Prior work shows humans can track through observable linear dynamics, thus we focus on nonlinear dynamics rendered unobservable through tracking control. We propose experiments to assess the human operator's ability to learn and invert such models, and distinguish this behavior from that achieved by pure feedback control.

Tether dynamics and control results for tethered satellite system's initial flight

NASA Astrophysics Data System (ADS)

Chapel, Jim D.; Flanders, Howard

The recent Tethered Satellite System-1 (TSS-1) mission has provided a wealth of data concerning the dynamics of tethered systems in space and has demonstrated the effectiveness of operational techniques designed to control these dynamics. In this paper, we review control techniques developed for managing tether dynamics, and discuss the results of using these techniques for the Tethered Satellite System's maiden flight on STS-46. In particular, the flight results of controlling libration dynamics, string dynamics, and slack tether are presented. These results show that tether dynamics can be safely managed. The overall stability of the system was found to be surprisingly good even at relatively short tether lengths. In fact, the system operated in passive mode at a tether length of 256 meters for over 9 hours. Only monitoring of the system was required during this time. Although flight anomalies prevented the planned deployment to 20 km, the extended operations at shorter tether lengths have proven the viability of using tethers in space. These results should prove invaluable in preparing for future missions with tethered objects in space.

Tether dynamics and control results for tethered satellite system's initial flight

NASA Technical Reports Server (NTRS)

Chapel, Jim D.; Flanders, Howard

1993-01-01

The recent Tethered Satellite System-1 (TSS-1) mission has provided a wealth of data concerning the dynamics of tethered systems in space and has demonstrated the effectiveness of operational techniques designed to control these dynamics. In this paper, we review control techniques developed for managing tether dynamics, and discuss the results of using these techniques for the Tethered Satellite System's maiden flight on STS-46. In particular, the flight results of controlling libration dynamics, string dynamics, and slack tether are presented. These results show that tether dynamics can be safely managed. The overall stability of the system was found to be surprisingly good even at relatively short tether lengths. In fact, the system operated in passive mode at a tether length of 256 meters for over 9 hours. Only monitoring of the system was required during this time. Although flight anomalies prevented the planned deployment to 20 km, the extended operations at shorter tether lengths have proven the viability of using tethers in space. These results should prove invaluable in preparing for future missions with tethered objects in space.

Flight-vehicle materials, structures, and dynamics - Assessment and future directions. Vol. 5 - Structural dynamics and aeroelasticity

NASA Technical Reports Server (NTRS)

Noor, Ahmed K. (Editor); Venneri, Samuel L. (Editor)

1993-01-01

Various papers on flight vehicle materials, structures, and dynamics are presented. Individual topics addressed include: general modeling methods, component modeling techniques, time-domain computational techniques, dynamics of articulated structures, structural dynamics in rotating systems, structural dynamics in rotorcraft, damping in structures, structural acoustics, structural design for control, structural modeling for control, control strategies for structures, system identification, overall assessment of needs and benefits in structural dynamics and controlled structures. Also discussed are: experimental aeroelasticity in wind tunnels, aeroservoelasticity, nonlinear aeroelasticity, aeroelasticity problems in turbomachines, rotary-wing aeroelasticity with application to VTOL vehicles, computational aeroelasticity, structural dynamic testing and instrumentation.

Biologically inspired rate control of chaos.

PubMed

Olde Scheper, Tjeerd V

2017-10-01

The overall intention of chaotic control is to eliminate chaos and to force the system to become stable in the classical sense. In this paper, I demonstrate a more subtle method that does not eliminate all traces of chaotic behaviour; yet it consistently, and reliably, can provide control as intended. The Rate Control of Chaos (RCC) method is derived from metabolic control processes and has several remarkable properties. RCC can control complex systems continuously, and unsupervised, it can also maintain control across bifurcations, and in the presence of significant systemic noise. Specifically, I show that RCC can control a typical set of chaotic models, including the 3 and 4 dimensional chaotic Lorenz systems, in all modes. Furthermore, it is capable of controlling spatiotemporal chaos without supervision and maintains control of the system across bifurcations. This property of RCC allows a dynamic system to operate in parameter spaces that are difficult to control otherwise. This may be particularly interesting for the control of forced systems or dynamic systems that are chaotically perturbed. These control properties of RCC are applicable to a range of dynamic systems, thereby appearing to have far-reaching effects beyond just controlling chaos. RCC may also point to the existence of a biochemical control function of an enzyme, to stabilise the dynamics of the reaction cascade.

Effective control of complex turbulent dynamical systems through statistical functionals.

PubMed

Majda, Andrew J; Qi, Di

2017-05-30

Turbulent dynamical systems characterized by both a high-dimensional phase space and a large number of instabilities are ubiquitous among complex systems in science and engineering, including climate, material, and neural science. Control of these complex systems is a grand challenge, for example, in mitigating the effects of climate change or safe design of technology with fully developed shear turbulence. Control of flows in the transition to turbulence, where there is a small dimension of instabilities about a basic mean state, is an important and successful discipline. In complex turbulent dynamical systems, it is impossible to track and control the large dimension of instabilities, which strongly interact and exchange energy, and new control strategies are needed. The goal of this paper is to propose an effective statistical control strategy for complex turbulent dynamical systems based on a recent statistical energy principle and statistical linear response theory. We illustrate the potential practical efficiency and verify this effective statistical control strategy on the 40D Lorenz 1996 model in forcing regimes with various types of fully turbulent dynamics with nearly one-half of the phase space unstable.

Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

PubMed Central

Zhou, Xiangyang; Zhao, Beilei; Gong, Guohao

2015-01-01

This paper presents a method based on co-simulation of a mechatronic system to optimize the control parameters of a two-axis inertially stabilized platform system (ISP) applied in an unmanned airship (UA), by which high control performance and reliability of the ISP system are achieved. First, a three-dimensional structural model of the ISP is built by using the three-dimensional parametric CAD software SOLIDWORKS®; then, to analyze the system’s kinematic and dynamic characteristics under operating conditions, dynamics modeling is conducted by using the multi-body dynamics software ADAMS™, thus the main dynamic parameters such as displacement, velocity, acceleration and reaction curve are obtained, respectively, through simulation analysis. Then, those dynamic parameters were input into the established MATLAB® SIMULINK® controller to simulate and test the performance of the control system. By these means, the ISP control parameters are optimized. To verify the methods, experiments were carried out by applying the optimized parameters to the control system of a two-axis ISP. The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance. PMID:26287210

Overview of the GRC Stirling Convertor System Dynamic Model

NASA Technical Reports Server (NTRS)

Lewandowski, Edward J.; Regan, Timothy F.

2004-01-01

A Stirling Convertor System Dynamic Model has been developed at the Glenn Research Center for controls, dynamics, and systems development of free-piston convertor power systems. It models the Stirling cycle thermodynamics, heat flow, gas, mechanical, and mounting dynamics, the linear alternator, and the controller. The model's scope extends from the thermal energy input to thermal, mechanical dynamics, and electrical energy out, allowing one to study complex system interactions among subsystems. The model is a non-linear time-domain model containing sub-cycle dynamics, allowing it to simulate transient and dynamic phenomena that other models cannot. The model details and capability are discussed.

Computational Methods for Nonlinear Dynamic Problems in Solid and Structural Mechanics: Progress in the Theory and Modeling of Friction and in the Control of Dynamical Systems with Frictional Forces

DTIC Science & Technology

1989-03-31

present several numerical studies designed to reveal the effect that some of the governing parameters have on the behavior of the system and, whenever...Friction and in the Control of Dynamical Systems with Frictional Forces FINAL TECHNICAL REPORT March 31, 1989 _ -- I -.7: .-.- - : AFOSR Contract F49620...SOLID AND STRUCTURAL MECHANICS: Progress in the Theory and Modeling of Friction and in the Control of Dynamical Systems with Frictional Forces I I * FINAL

Mathematical modelling of active safety system functions as tools for development of driverless vehicles

NASA Astrophysics Data System (ADS)

Ryazantsev, V.; Mezentsev, N.; Zakharov, A.

2018-02-01

This paper is dedicated to a solution of the issue of synthesis of the vehicle longitudinal dynamics control functions (acceleration and deceleration control) based on the element base of the vehicle active safety system (ESP) - driverless vehicle development tool. This strategy helps to reduce time and complexity of integration of autonomous motion control systems (AMCS) into the vehicle architecture and allows direct control of actuators ensuring the longitudinal dynamics control, as well as reduction of time for calibration works. The “vehicle+wheel+road” longitudinal dynamics control is complicated due to the absence of the required prior information about the control object. Therefore, the control loop becomes an adaptive system, i.e. a self-adjusting monitoring system. Another difficulty is the driver’s perception of the longitudinal dynamics control process in terms of comfort. Traditionally, one doesn’t pay a lot of attention to this issue within active safety systems, and retention of vehicle steerability, controllability and stability in emergency situations are considered to be the quality criteria. This is mainly connected to its operational limits, since it is activated only in critical situations. However, implementation of the longitudinal dynamics control in the AMCS poses another challenge for the developers - providing the driver with comfortable vehicle movement during acceleration and deceleration - while the possible highest safety level in terms of the road grip is provided by the active safety system (ESP). The results of this research are: universal active safety system - AMCS interaction interface; block diagram for the vehicle longitudinal acceleration and deceleration control as one of the active safety system’s integrated functions; ideology of adaptive longitudinal dynamics control, which enables to realize the deceleration and acceleration requested by the AMCS; algorithms synthesised; analytical experiments proving the efficiency and practicability of the chosen concept.

Indirect Measurement of Rotor Dynamic Imbalance for Control Moment Gyroscopes via Gimbal Disturbance Observer.

PubMed

Huang, Liya; Wu, Zhong; Wang, Kan

2018-06-07

The high-precision speed control of gimbal servo systems is the key to generating high-precision torque for control moment gyroscopes (CMGs) in spacecrafts. However, the control performance of gimbal servo systems may be degraded significantly by disturbances, especially a dynamic imbalance disturbance with the same frequency as the high-speed rotor. For assembled CMGs, it is very difficult to measure the rotor imbalance directly by using a dynamic balancing machine. In this paper, a gimbal disturbance observer is proposed to estimate the dynamic imbalance of the rotor assembled in the CMG. First, a third-order dynamical system is established to describe the disturbance dynamics of the gimbal servo system, in which the rotor dynamic imbalance torque along the gimbal axis and the other disturbances are modeled to be periodic and bounded, respectively. Then, the gimbal disturbance observer is designed for the third-order dynamical system by using the total disturbance as a virtual measurement. Since the virtual measurement is derived from the inverse dynamics of the gimbal servo system, the information of the rotor dynamic imbalance can be obtained indirectly only using the measurements of gimbal speed and three-phase currents. Semi-physical experimental results demonstrate the effectiveness of the observer by using a CMG simulator.

Minimization of Impact from Electric Vehicle Supply Equipment to the Electric Grid Using a Dynamically Controlled Battery Bank for Peak Load Shaving

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

Castello, Charles C

This research presents a comparison of two control systems for peak load shaving using local solar power generation (i.e., photovoltaic array) and local energy storage (i.e., battery bank). The purpose is to minimize load demand of electric vehicle supply equipment (EVSE) on the electric grid. A static and dynamic control system is compared to decrease demand from EVSE. Static control of the battery bank is based on charging and discharging to the electric grid at fixed times. Dynamic control, with 15-minute resolution, forecasts EVSE load based on data analysis of collected data. In the proposed dynamic control system, the sigmoidmore » function is used to shave peak loads while limiting scenarios that can quickly drain the battery bank. These control systems are applied to Oak Ridge National Laboratory s (ORNL) solar-assisted electric vehicle (EV) charging stations. This installation is composed of three independently grid-tied sub-systems: (1) 25 EVSE; (2) 47 kW photovoltaic (PV) array; and (3) 60 kWh battery bank. The dynamic control system achieved the greatest peak load shaving, up to 34% on a cloudy day and 38% on a sunny day. The static control system was not ideal; peak load shaving was 14.6% on a cloudy day and 12.7% on a sunny day. Simulations based on ORNL data shows solar-assisted EV charging stations combined with the proposed dynamic battery control system can negate up to 89% of EVSE load demand on sunny days.« less

Vehicle systems: coupled and interactive dynamics analysis

NASA Astrophysics Data System (ADS)

Vantsevich, Vladimir V.

2014-11-01

This article formulates a new direction in vehicle dynamics, described as coupled and interactive vehicle system dynamics. Formalised procedures and analysis of case studies are presented. An analytical consideration, which explains the physics of coupled system dynamics and its consequences for dynamics of a vehicle, is given for several sets of systems including: (i) driveline and suspension of a 6×6 truck, (ii) a brake mechanism and a limited slip differential of a drive axle and (iii) a 4×4 vehicle steering system and driveline system. The article introduces a formal procedure to turn coupled system dynamics into interactive dynamics of systems. A new research direction in interactive dynamics of an active steering and a hybrid-electric power transmitting unit is presented and analysed to control power distribution between the drive axles of a 4×4 vehicle. A control strategy integrates energy efficiency and lateral dynamics by decoupling dynamics of the two systems thus forming their interactive dynamics.

Management of complex dynamical systems

NASA Astrophysics Data System (ADS)

MacKay, R. S.

2018-02-01

Complex dynamical systems are systems with many interdependent components which evolve in time. One might wish to control their trajectories, but a more practical alternative is to control just their statistical behaviour. In many contexts this would be both sufficient and a more realistic goal, e.g. climate and socio-economic systems. I refer to it as ‘management’ of complex dynamical systems. In this paper, some mathematics for management of complex dynamical systems is developed in the weakly dependent regime, and questions are posed for the strongly dependent regime.

Projectile Roll Dynamics and Control With a Low-Cost Skid-to-Turn Maneuver System

DTIC Science & Technology

2013-03-01

scheme. The mechatronics of the maneuver system was provided. The suitability of this design for survival at gun launch was assessed through...Projectile Roll Dynamics and Control With a Low-Cost Skid-to-Turn Maneuver System by Frank Fresconi, Ilmars Celmins, Mark Ilg, and James...5069 ARL-TR-6363 March 2013 Projectile Roll Dynamics and Control With a Low-Cost Skid-to-Turn Maneuver System Frank Fresconi, Ilmars

Dynamics and controls working group summary

NASA Technical Reports Server (NTRS)

Oglevie, R. E.

1984-01-01

The technology status of the dynamics and controls discipline as it applies to energy storage wheel systems was evaluated. No problems were identified for which an adequate solution could not be proposed. Design issues that influence control were addressed. The dynamics and control aspects associated with the energy storage system concept and its various constituent parts, and the control tasks attendant to large, manned spacecraft are discussed.

An informal paper on large-scale dynamic systems

NASA Technical Reports Server (NTRS)

Ho, Y. C.

1975-01-01

Large scale systems are defined as systems requiring more than one decision maker to control the system. Decentralized control and decomposition are discussed for large scale dynamic systems. Information and many-person decision problems are analyzed.

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.

System Identification for Nonlinear Control Using Neural Networks

NASA Technical Reports Server (NTRS)

Stengel, Robert F.; Linse, Dennis J.

1990-01-01

An approach to incorporating artificial neural networks in nonlinear, adaptive control systems is described. The controller contains three principal elements: a nonlinear inverse dynamic control law whose coefficients depend on a comprehensive model of the plant, a neural network that models system dynamics, and a state estimator whose outputs drive the control law and train the neural network. Attention is focused on the system identification task, which combines an extended Kalman filter with generalized spline function approximation. Continual learning is possible during normal operation, without taking the system off line for specialized training. Nonlinear inverse dynamic control requires smooth derivatives as well as function estimates, imposing stringent goals on the approximating technique.

Modeling, Analysis and Mitigation of Sub-Synchronous Interactions between Full- and Partial-Scale Voltage-Source Converters and Power Networks

NASA Astrophysics Data System (ADS)

Alawasa, Khaled Mohammad

Voltage-source converters (VSCs) have gained widespread acceptance in modern power systems. The stability and dynamics of power systems involving these devices have recently become salient issues. In the small-signal sense, the dynamics of VSC-based systems is dictated by its incremental output impedance, which is formed by a combination of 'passive' circuit components and 'active' control elements. Control elements such as control parameters, control loops, and control topologies play a significant role in shaping the impedance profile. Depending on the control schemes and strategies used, VSC-based systems can exhibit different incremental impedance dynamics. As the control elements and dynamics are involved in the impedance structure, the frequency-dependent output impedance might have a negative real-part (i.e., a negative resistance). In the grid-connected mode, the negative resistance degrades the system damping and negatively impacts the stability. In high-voltage networks where high-power VSC-based systems are usually employed and where sub-synchronous dynamics usually exist, integrating large VSC-based systems might reduce the overall damping and results in unstable dynamics. The objectives of this thesis are to (1) investigate and analyze the output impedance properties under different control strategies and control functions, (2) identify and characterize the key contributors to the impedance and sub-synchronous damping profiles, and (3) propose mitigation techniques to minimize and eliminate the negative impact associated with integrating VSC-based systems into power systems. Different VSC configurations are considered in this thesis; in particular, the full-scale and partial-scale topologies (doubly fed-induction generators) are addressed. Additionally, the impedance and system damping profiles are studied under two different control strategies: the standard vector control strategy and the recently-developed power synchronization control strategy. Furthermore, this thesis proposes a simple and robust technique for damping the sub-synchronous resonance in a power system.

ER fluid applications to vibration control devices and an adaptive neural-net controller

NASA Astrophysics Data System (ADS)

Morishita, Shin; Ura, Tamaki

1993-07-01

Four applications of electrorheological (ER) fluid to vibration control actuators and an adaptive neural-net control system suitable for the controller of ER actuators are described: a shock absorber system for automobiles, a squeeze film damper bearing for rotational machines, a dynamic damper for multidegree-of-freedom structures, and a vibration isolator. An adaptive neural-net control system composed of a forward model network for structural identification and a controller network is introduced for the control system of these ER actuators. As an example study of intelligent vibration control systems, an experiment was performed in which the ER dynamic damper was attached to a beam structure and controlled by the present neural-net controller so that the vibration in several modes of the beam was reduced with a single dynamic damper.

Observation and quantification of the quantum dynamics of a strong-field excited multi-level system.

PubMed

Liu, Zuoye; Wang, Quanjun; Ding, Jingjie; Cavaletto, Stefano M; Pfeifer, Thomas; Hu, Bitao

2017-01-04

The quantum dynamics of a V-type three-level system, whose two resonances are first excited by a weak probe pulse and subsequently modified by another strong one, is studied. The quantum dynamics of the multi-level system is closely related to the absorption spectrum of the transmitted probe pulse and its modification manifests itself as a modulation of the absorption line shape. Applying the dipole-control model, the modulation induced by the second strong pulse to the system's dynamics is quantified by eight intensity-dependent parameters, describing the self and inter-state contributions. The present study opens the route to control the quantum dynamics of multi-level systems and to quantify the quantum-control process.

Design and reliability analysis of DP-3 dynamic positioning control architecture

NASA Astrophysics Data System (ADS)

Wang, Fang; Wan, Lei; Jiang, Da-Peng; Xu, Yu-Ru

2011-12-01

As the exploration and exploitation of oil and gas proliferate throughout deepwater area, the requirements on the reliability of dynamic positioning system become increasingly stringent. The control objective ensuring safety operation at deep water will not be met by a single controller for dynamic positioning. In order to increase the availability and reliability of dynamic positioning control system, the triple redundancy hardware and software control architectures were designed and developed according to the safe specifications of DP-3 classification notation for dynamically positioned ships and rigs. The hardware redundant configuration takes the form of triple-redundant hot standby configuration including three identical operator stations and three real-time control computers which connect each other through dual networks. The function of motion control and redundancy management of control computers were implemented by software on the real-time operating system VxWorks. The software realization of task loose synchronization, majority voting and fault detection were presented in details. A hierarchical software architecture was planed during the development of software, consisting of application layer, real-time layer and physical layer. The behavior of the DP-3 dynamic positioning control system was modeled by a Markov model to analyze its reliability. The effects of variation in parameters on the reliability measures were investigated. The time domain dynamic simulation was carried out on a deepwater drilling rig to prove the feasibility of the proposed control architecture.

Dynamic Responses and Vibration Control of the Transmission Tower-Line System: A State-of-the-Art Review

PubMed Central

Chen, Bo; Guo, Wei-hua; Li, Peng-yun; Xie, Wen-ping

2014-01-01

This paper presented an overview on the dynamic analysis and control of the transmission tower-line system in the past forty years. The challenges and future developing trends in the dynamic analysis and mitigation of the transmission tower-line system under dynamic excitations are also put forward. It also reviews the analytical models and approaches of the transmission tower, transmission lines, and transmission tower-line systems, respectively, which contain the theoretical model, finite element (FE) model and the equivalent model; shows the advances in wind responses of the transmission tower-line system, which contains the dynamic effects under common wind loading, tornado, downburst, and typhoon; and discusses the dynamic responses under earthquake and ice loads, respectively. The vibration control of the transmission tower-line system is also reviewed, which includes the magnetorheological dampers, friction dampers, tuned mass dampers, and pounding tuned mass dampers. PMID:25105161

Predicting the effects of unmodeled dynamics on an aircraft flight control system design using eigenspace assignment

NASA Technical Reports Server (NTRS)

Johnson, Eric N.; Davidson, John B.; Murphy, Patrick C.

1994-01-01

When using eigenspace assignment to design an aircraft flight control system, one must first develop a model of the plant. Certain questions arise when creating this model as to which dynamics of the plant need to be included in the model and which dynamics can be left out or approximated. The answers to these questions are important because a poor choice can lead to closed-loop dynamics that are unpredicted by the design model. To alleviate this problem, a method has been developed for predicting the effect of not including certain dynamics in the design model on the final closed-loop eigenspace. This development provides insight as to which characteristics of unmodeled dynamics will ultimately affect the closed-loop rigid-body dynamics. What results from this insight is a guide for eigenstructure control law designers to aid them in determining which dynamics need or do not need to be included and a new way to include these dynamics in the flight control system design model to achieve a required accuracy in the closed-loop rigid-body dynamics. The method is illustrated for a lateral-directional flight control system design using eigenspace assignment for the NASA High Alpha Research Vehicle (HARV).

A Simulation Study on Take-Off and Landing Dynamics of the Aircraft of a Fly-By-Wire Control System

DTIC Science & Technology

1993-01-07

L:V,"DIN G DYN;AMICS OF THE AIRCRAFT OF A FLY-BY-WIRE CONTROL SYSTEM by Y achang Feng, Gang Chert, Peiqiong Li 93-00985 Distribution unlimit ed. FASTC...FLY-BY-WIRE CONTROL SYSTEM By: Yachang Feng, Gang Chen, Peiqiong- Li English pages: 17 Source: Hangkon, Xuebao, Vol. 12, No. 6, June, 1991; pp. 252-258...Landing Dynamics of the Aircraft of a Fly-By-Wire Control System Beijing University of Aeronautics and Astronautics Yachang FENG, Gang CHEN and Peiqiong Li

Structure-based control of complex networks with nonlinear dynamics.

PubMed

Zañudo, Jorge Gomez Tejeda; Yang, Gang; Albert, Réka

2017-07-11

What can we learn about controlling a system solely from its underlying network structure? Here we adapt a recently developed framework for control of networks governed by a broad class of nonlinear dynamics that includes the major dynamic models of biological, technological, and social processes. This feedback-based framework provides realizable node overrides that steer a system toward any of its natural long-term dynamic behaviors, regardless of the specific functional forms and system parameters. We use this framework on several real networks, identify the topological characteristics that underlie the predicted node overrides, and compare its predictions to those of structural controllability in control theory. Finally, we demonstrate this framework's applicability in dynamic models of gene regulatory networks and identify nodes whose override is necessary for control in the general case but not in specific model instances.

Dynamic properties of the adaptive optics system depending on the temporary transformations of mirror control voltages

NASA Astrophysics Data System (ADS)

Lavrinov, V. V.; Lavrinova, L. N.

2017-11-01

The statistically optimal control algorithm for the correcting mirror is formed by constructing a prediction of distortions of the optical signal and improves the time resolution of the adaptive optics system. The prediction of distortions is based on an analysis of the dynamics of changes in the optical inhomogeneities of the turbulent atmosphere or the evolution of phase fluctuations at the input aperture of the adaptive system. Dynamic properties of the system are manifested during the temporary transformation of the stresses controlling the mirror and are determined by the dynamic characteristics of the flexible mirror.

A comprehensive inversion approach for feedforward compensation of piezoactuator system at high frequency

NASA Astrophysics Data System (ADS)

Tian, Lizhi; Xiong, Zhenhua; Wu, Jianhua; Ding, Han

2016-09-01

Motion control of the piezoactuator system over broadband frequencies is limited due to its inherent hysteresis and system dynamics. One of the suggested ways is to use feedforward controller to linearize the input-output relationship of the piezoactuator system. Although there have been many feedforward approaches, it is still a challenge to develop feedforward controller for the piezoactuator system at high frequency. Hence, this paper presents a comprehensive inversion approach in consideration of the coupling of hysteresis and dynamics. In this work, the influence of dynamics compensation on the input-output relationship of the piezoactuator system is investigated first. With system dynamics compensation, the input-output relationship of the piezoactuator system will be further represented as rate-dependent nonlinearity due to the inevitable dynamics compensation error, especially at high frequency. Base on this result, the feedforward controller composed by a cascade of linear dynamics inversion and rate-dependent nonlinearity inversion is developed. Then, the system identification of the comprehensive inversion approach is proposed. Finally, experimental results show that the proposed approach can improve the performance on tracking of both periodic and non-periodic trajectories at medium and high frequency compared with the conventional feedforward approaches.

Performance recovery of a class of uncertain non-affine systems with unmodelled dynamics: an indirect dynamic inversion method

NASA Astrophysics Data System (ADS)

Yi, Bowen; Lin, Shuyi; Yang, Bo; Zhang, Weidong

2018-02-01

This paper presents an output feedback indirect dynamic inversion (IDI) approach for a class of uncertain nonaffine systems with input unmodelled dynamics. Compared with previous approaches to achieve performance recovery, the proposed method aims at dealing with a broader class of nonaffine-in-control systems with triangular structure. An IDI state feedback law is designed first, in which less knowledge of the model plant is needed compared to earlier approximate dynamic inversion methods, thus yielding more robust performance. After that, an extended high-gain observer is designed to accomplish the task with output feedback. Finally, we prove that the designed IDI controller is equivalent to an adaptive proportional-integral (PI) controller, with respect to both time response equivalence and robustness equivalence. The conclusion implies that for the studied strict-feedback non-affine systems with unmodelled dynamics, there always exits a PI controller to stabilise the systems. The effectiveness and benefits of the designed approach are verified by three examples.

Object impedance control for cooperative manipulation - Theory and experimental results

NASA Technical Reports Server (NTRS)

Schneider, Stanley A.; Cannon, Robert H., Jr.

1992-01-01

This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

Motion control of musculoskeletal systems with redundancy.

PubMed

Park, Hyunjoo; Durand, Dominique M

2008-12-01

Motion control of musculoskeletal systems for functional electrical stimulation (FES) is a challenging problem due to the inherent complexity of the systems. These include being highly nonlinear, strongly coupled, time-varying, time-delayed, and redundant. The redundancy in particular makes it difficult to find an inverse model of the system for control purposes. We have developed a control system for multiple input multiple output (MIMO) redundant musculoskeletal systems with little prior information. The proposed method separates the steady-state properties from the dynamic properties. The dynamic control uses a steady-state inverse model and is implemented with both a PID controller for disturbance rejection and an artificial neural network (ANN) feedforward controller for fast trajectory tracking. A mechanism to control the sum of the muscle excitation levels is also included. To test the performance of the proposed control system, a two degree of freedom ankle-subtalar joint model with eight muscles was used. The simulation results show that separation of steady-state and dynamic control allow small output tracking errors for different reference trajectories such as pseudo-step, sinusoidal and filtered random signals. The proposed control method also demonstrated robustness against system parameter and controller parameter variations. A possible application of this control algorithm is FES control using multiple contact cuff electrodes where mathematical modeling is not feasible and the redundancy makes the control of dynamic movement difficult.

New method to improve dynamic stiffness of electro-hydraulic servo systems

NASA Astrophysics Data System (ADS)

Bai, Yanhong; Quan, Long

2013-09-01

Most current researches working on improving stiffness focus on the application of control theories. But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated, so the control action is lagged. Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms. In this paper, the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed. On this basis, the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward. And a scheme using double servo valves to realize flow feedforward compensation is presented, in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time. The two valves are arranged in parallel to control the cylinder jointly. Furthermore, the model of flow compensation is derived, by which the product of the amplitude and width of the valve’s pulse command signal can be calculated. And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations. Using the proposed scheme, simulations and experiments at different positions with different force changes are conducted. The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time. That is, system dynamic load stiffness is evidently raised. This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

Development of an Effective System Identification and Control Capability for Quad-copter UAVs

NASA Astrophysics Data System (ADS)

Wei, Wei

In recent years, with the promise of extensive commercial applications, the popularity of Unmanned Aerial Vehicles (UAVs) has dramatically increased as witnessed by publications and mushrooming research and educational programs. Over the years, multi-copter aircraft have been chosen as a viable configuration for small-scale VTOL UAVs in the form of quad-copters, hexa-copters and octo-copters. Compared to the single main rotor configuration such as the conventional helicopter, multi-copter airframes require a simpler feedback control system and fewer mechanical parts. These characteristics make these UAV platforms, such as quad-copter which is the main emphasis in this dissertation, a rugged and competitive candidate for many applications in both military and civil areas. Because of its configuration and relative size, the small-scale quad-copter UAV system is inherently very unstable. In order to develop an effective control system through simulation techniques, obtaining an accurate dynamic model of a given quad-copter is imperative. Moreover, given the anticipated stringent safety requirements, fault tolerance will be a crucial component of UAV certification. Accurate dynamic modeling and control of this class of UAV is an enabling technology and is imperative for future commercial applications. In this work, the dynamic model of a quad-copter system in hover flight was identified using frequency-domain system identification techniques. A new and unique experimental system, data acquisition and processing procedure was developed catering specifically to the class of electric powered multi-copter UAV systems. The Comprehensive Identification from FrEquency Responses (CIFER RTM) software package, developed by US Army Aviation Development Directorate -- AFDD, was utilized along with flight tests to develop dynamic models of the quad-copter system. A new set of flight tests were conducted and the predictive capability of the dynamic models were successfully validated. A PID controller and two fuzzy logic controllers were developed based on the validated dynamic models. The controller performances were evaluated and compared in both simulation environment and flight testing. Flight controllers were optimized to comply with US Aeronautical Design Standard Performance Specification Handling Quality Requirements for Military Rotorcraft (ADS-33E-PRF). Results showed a substantial improvement for developed controllers when compared to the nominal controllers based on hand tuning. The scope of this research involves experimental system hardware and software development, flight instrumentation, flight testing, dynamics modeling, system identification, dynamic model validation, control system modeling using PID and fuzzy logic, analysis of handling qualities, flight control optimization and validation. Both closed-loop and open-loop dynamics of the quad-copter system were analyzed. A cost-effective and high quality system identification procedure was applied and results proved in simulations as well as in flight tests.

Resource Management in Constrained Dynamic Situations

NASA Astrophysics Data System (ADS)

Seok, Jinwoo

Resource management is considered in this dissertation for systems with limited resources, possibly combined with other system constraints, in unpredictably dynamic environments. Resources may represent fuel, power, capabilities, energy, and so on. Resource management is important for many practical systems; usually, resources are limited, and their use must be optimized. Furthermore, systems are often constrained, and constraints must be satisfied for safe operation. Simplistic resource management can result in poor use of resources and failure of the system. Furthermore, many real-world situations involve dynamic environments. Many traditional problems are formulated based on the assumptions of given probabilities or perfect knowledge of future events. However, in many cases, the future is completely unknown, and information on or probabilities about future events are not available. In other words, we operate in unpredictably dynamic situations. Thus, a method is needed to handle dynamic situations without knowledge of the future, but few formal methods have been developed to address them. Thus, the goal is to design resource management methods for constrained systems, with limited resources, in unpredictably dynamic environments. To this end, resource management is organized hierarchically into two levels: 1) planning, and 2) control. In the planning level, the set of tasks to be performed is scheduled based on limited resources to maximize resource usage in unpredictably dynamic environments. In the control level, the system controller is designed to follow the schedule by considering all the system constraints for safe and efficient operation. Consequently, this dissertation is mainly divided into two parts: 1) planning level design, based on finite state machines, and 2) control level methods, based on model predictive control. We define a recomposable restricted finite state machine to handle limited resource situations and unpredictably dynamic environments for the planning level. To obtain a policy, dynamic programing is applied, and to obtain a solution, limited breadth-first search is applied to the recomposable restricted finite state machine. A multi-function phased array radar resource management problem and an unmanned aerial vehicle patrolling problem are treated using recomposable restricted finite state machines. Then, we use model predictive control for the control level, because it allows constraint handling and setpoint tracking for the schedule. An aircraft power system management problem is treated that aims to develop an integrated control system for an aircraft gas turbine engine and electrical power system using rate-based model predictive control. Our results indicate that at the planning level, limited breadth-first search for recomposable restricted finite state machines generates good scheduling solutions in limited resource situations and unpredictably dynamic environments. The importance of cooperation in the planning level is also verified. At the control level, a rate-based model predictive controller allows good schedule tracking and safe operations. The importance of considering the system constraints and interactions between the subsystems is indicated. For the best resource management in constrained dynamic situations, the planning level and the control level need to be considered together.

Dynamics and control for Constrained Multibody Systems modeled with Maggi's equation: Application to Differential Mobile Robots Partll

NASA Astrophysics Data System (ADS)

Amengonu, Yawo H.; Kakad, Yogendra P.

2014-07-01

Quasivelocity techniques were applied to derive the dynamics of a Differential Wheeled Mobile Robot (DWMR) in the companion paper. The present paper formulates a control system design for trajectory tracking of this class of robots. The method develops a feedback linearization technique for the nonlinear system using dynamic extension algorithm. The effectiveness of the nonlinear controller is illustrated with simulation example.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. V.; Yerazunis, S. W.

1973-01-01

Problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars are reported. Problem areas include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis, terrain modeling and path selection; and chemical analysis of specimens. These tasks are summarized: vehicle model design, mathematical model of vehicle dynamics, experimental vehicle dynamics, obstacle negotiation, electrochemical controls, remote control, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, and chromatograph model evaluation and improvement.

Neural networks for self-learning control systems

NASA Technical Reports Server (NTRS)

Nguyen, Derrick H.; Widrow, Bernard

1990-01-01

It is shown how a neural network can learn of its own accord to control a nonlinear dynamic system. An emulator, a multilayered neural network, learns to identify the system's dynamic characteristics. The controller, another multilayered neural network, next learns to control the emulator. The self-trained controller is then used to control the actual dynamic system. The learning process continues as the emulator and controller improve and track the physical process. An example is given to illustrate these ideas. The 'truck backer-upper,' a neural network controller that steers a trailer truck while the truck is backing up to a loading dock, is demonstrated. The controller is able to guide the truck to the dock from almost any initial position. The technique explored should be applicable to a wide variety of nonlinear control problems.

Robust control synthesis for uncertain dynamical systems

NASA Technical Reports Server (NTRS)

Byun, Kuk-Whan; Wie, Bong; Sunkel, John

1989-01-01

This paper presents robust control synthesis techniques for uncertain dynamical systems subject to structured parameter perturbation. Both QFT (quantitative feedback theory) and H-infinity control synthesis techniques are investigated. Although most H-infinity-related control techniques are not concerned with the structured parameter perturbation, a new way of incorporating the parameter uncertainty in the robust H-infinity control design is presented. A generic model of uncertain dynamical systems is used to illustrate the design methodologies investigated in this paper. It is shown that, for a certain noncolocated structural control problem, use of both techniques results in nonminimum phase compensation.

Active load control during rolling maneuvers. [performed in the Langley Transonic Dynamics Tunnel

NASA Technical Reports Server (NTRS)

Woods-Vedeler, Jessica A.; Pototzky, Anthony S.; Hoadley, Sherwood T.

1994-01-01

A rolling maneuver load alleviation (RMLA) system has been demonstrated on the active flexible wing (AFW) wind tunnel model in the Langley Transonic Dynamics Tunnel (TDT). The objective was to develop a systematic approach for designing active control laws to alleviate wing loads during rolling maneuvers. Two RMLA control laws were developed that utilized outboard control-surface pairs (leading and trailing edge) to counteract the loads and that used inboard trailing-edge control-surface pairs to maintain roll performance. Rolling maneuver load tests were performed in the TDT at several dynamic pressures that included two below and one 11 percent above open-loop flutter dynamic pressure. The RMLA system was operated simultaneously with an active flutter suppression system above open-loop flutter dynamic pressure. At all dynamic pressures for which baseline results were obtained, torsion-moment loads were reduced for both RMLA control laws. Results for bending-moment load reductions were mixed; however, design equations developed in this study provided conservative estimates of load reduction in all cases.

Design of a force reflecting hand controller for space telemanipulation studies

NASA Technical Reports Server (NTRS)

Paines, J. D. B.

1987-01-01

The potential importance of space telemanipulator systems is reviewed, along with past studies of master-slave manipulation using a generalized force reflecting master arm. Problems concerning their dynamic interaction with the human operator have been revealed in the use of these systems, with marked differences between 1-g and simulated weightless conditions. A study is outlined to investigate the optimization of the man machine dynamics of master-slave manipulation, and a set of specifications is determined for the apparatus necessary to perform this investigation. This apparatus is a one degree of freedom force reflecting hand controller with closed loop servo control which enables it to simulate arbitrary dynamic properties to high bandwidth. Design of the complete system and its performance is discussed. Finally, the experimental adjustment of the hand controller dynamics for smooth manual control performance with good operator force perception is described, resulting in low inertia, viscously damped hand controller dynamics.

Dynamic Inversion based Control of a Docking Mechanism

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh V.; Ippolito, Corey; Krishnakumar, Kalmanje

2006-01-01

The problem of position and attitude control of the Stewart platform based docking mechanism is considered motivated by its future application in space missions requiring the autonomous docking capability. The control design is initiated based on the framework of the intelligent flight control architecture being developed at NASA Ames Research Center. In this paper, the baseline position and attitude control system is designed using dynamic inversion with proportional-integral augmentation. The inverse dynamics uses a Newton-Euler formulation that includes the platform dynamics, the dynamics of the individual legs along with viscous friction in the joints. Simulation results are presented using forward dynamics simulated by a commercial physics engine that builds the system as individual elements with appropriate joints and uses constrained numerical integration,

Development of an analysis for the determination of coupled helicopter rotor/control system dynamic response. Part 2: Program listing

NASA Technical Reports Server (NTRS)

Sutton, L. R.

1975-01-01

A theoretical analysis is developed for a coupled helicopter rotor system to allow determination of the loads and dynamic response behavior of helicopter rotor systems in both steady-state forward flight and maneuvers. The effects of an anisotropically supported swashplate or gyroscope control system and a deformed free wake on the rotor system dynamic response behavior are included.

Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

NASA Astrophysics Data System (ADS)

Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

2017-11-01

The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center

NASA Technical Reports Server (NTRS)

Zia, Omar

1989-01-01

The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

A NASTRAN/TREETOPS solution to a flexible, multi-body dynamics and controls problem on a UNIX workstation

NASA Technical Reports Server (NTRS)

Benavente, Javier E.; Luce, Norris R.

1989-01-01

Demands for nonlinear time history simulations of large, flexible multibody dynamic systems has created a need for efficient interfaces between finite-element modeling programs and time-history simulations. One such interface, TREEFLX, an interface between NASTRAN and TREETOPS, a nonlinear dynamics and controls time history simulation for multibody structures, is presented and demonstrated via example using the proposed Space Station Mobile Remote Manipulator System (MRMS). The ability to run all three programs (NASTRAN, TREEFLX and TREETOPS), in addition to other programs used for controller design and model reduction (such as DMATLAB and TREESEL, both described), under a UNIX Workstation environment demonstrates the flexibility engineers now have in designing, developing and testing control systems for dynamically complex systems.

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.

Modelling and simulation of Space Station Freedom berthing dynamics and control

NASA Technical Reports Server (NTRS)

Cooper, Paul A.; Garrison, James L., Jr.; Montgomery, Raymond C.; Wu, Shih-Chin; Stockwell, Alan E.; Demeo, Martha E.

1994-01-01

A large-angle, flexible, multibody, dynamic modeling capability has been developed to help validate numerical simulations of the dynamic motion and control forces which occur during berthing of Space Station Freedom to the Shuttle Orbiter in the early assembly flights. This paper outlines the dynamics and control of the station, the attached Shuttle Remote Manipulator System, and the orbiter. The simulation tool developed for the analysis is described and the results of two simulations are presented. The first is a simulated maneuver from a gravity-gradient attitude to a torque equilibrium attitude using the station reaction control jets. The second simulation is the berthing of the station to the orbiter with the station control moment gyros actively maintaining an estimated torque equilibrium attitude. The influence of the elastic dynamic behavior of the station and of the Remote Manipulator System on the attitude control of the station/orbiter system during each maneuver was investigated. The flexibility of the station and the arm were found to have only a minor influence on the attitude control of the system during the maneuvers.

Controllability of Free-piston Stirling Engine/linear Alternator Driving a Dynamic Load

NASA Technical Reports Server (NTRS)

Kankam, M. David; Rauch, Jeffrey S.

1994-01-01

This paper presents the dynamic behavior of a Free-Piston Stirling Engine/linear alternator (FPSE/LA) driving a single-phase fractional horse-power induction motor. The controllability and dynamic stability of the system are discussed by means of sensitivity effects of variations in system parameters, engine controller, operating conditions, and mechanical loading on the induction motor. The approach used expands on a combined mechanical and thermodynamic formulation employed in a previous paper. The application of state-space technique and frequency domain analysis enhances understanding of the dynamic interactions. Engine-alternator parametric sensitivity studies, similar to those of the previous paper, are summarized. Detailed discussions are provided for parametric variations which relate to the engine controller and system operating conditions. The results suggest that the controllability of a FPSE-based power system is enhanced by proper operating conditions and built-in controls.

Differential flatness properties and multivariable adaptive control of ovarian system dynamics

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos

2016-12-01

The ovarian system exhibits nonlinear dynamics which is modeled by a set of coupled nonlinear differential equations. The paper proposes adaptive fuzzy control based on differential flatness theory for the complex dynamics of the ovarian system. It is proven that the dynamic model of the ovarian system, having as state variables the LH and the FSH hormones and their derivatives, is a differentially flat one. This means that all its state variables and its control inputs can be described as differential functions of the flat output. By exploiting differential flatness properties the system's dynamic model is written in the multivariable linear canonical (Brunovsky) form, for which the design of a state feedback controller becomes possible. After this transformation, the new control inputs of the system contain unknown nonlinear parts, which are identified with the use of neurofuzzy approximators. The learning procedure for these estimators is determined by the requirement the first derivative of the closed-loop's Lyapunov function to be a negative one. Moreover, Lyapunov stability analysis shows that H-infinity tracking performance is succeeded for the feedback control loop and this assures improved robustness to the aforementioned model uncertainty as well as to external perturbations. The efficiency of the proposed adaptive fuzzy control scheme is confirmed through simulation experiments.

Dynamic inverse models in human-cyber-physical systems

NASA Astrophysics Data System (ADS)

Robinson, Ryan M.; Scobee, Dexter R. R.; Burden, Samuel A.; Sastry, S. Shankar

2016-05-01

Human interaction with the physical world is increasingly mediated by automation. This interaction is characterized by dynamic coupling between robotic (i.e. cyber) and neuromechanical (i.e. human) decision-making agents. Guaranteeing performance of such human-cyber-physical systems will require predictive mathematical models of this dynamic coupling. Toward this end, we propose a rapprochement between robotics and neuromechanics premised on the existence of internal forward and inverse models in the human agent. We hypothesize that, in tele-robotic applications of interest, a human operator learns to invert automation dynamics, directly translating from desired task to required control input. By formulating the model inversion problem in the context of a tracking task for a nonlinear control system in control-a_ne form, we derive criteria for exponential tracking and show that the resulting dynamic inverse model generally renders a portion of the physical system state (i.e., the internal dynamics) unobservable from the human operator's perspective. Under stability conditions, we show that the human can achieve exponential tracking without formulating an estimate of the system's state so long as they possess an accurate model of the system's dynamics. These theoretical results are illustrated using a planar quadrotor example. We then demonstrate that the automation can intervene to improve performance of the tracking task by solving an optimal control problem. Performance is guaranteed to improve under the assumption that the human learns and inverts the dynamic model of the altered system. We conclude with a discussion of practical limitations that may hinder exact dynamic model inversion.

Intelligent on-line fault tolerant control for unanticipated catastrophic failures.

PubMed

Yen, Gary G; Ho, Liang-Wei

2004-10-01

As dynamic systems become increasingly complex, experience rapidly changing environments, and encounter a greater variety of unexpected component failures, solving the control problems of such systems is a grand challenge for control engineers. Traditional control design techniques are not adequate to cope with these systems, which may suffer from unanticipated dynamic failures. In this research work, we investigate the on-line fault tolerant control problem and propose an intelligent on-line control strategy to handle the desired trajectories tracking problem for systems suffering from various unanticipated catastrophic faults. Through theoretical analysis, the sufficient condition of system stability has been derived and two different on-line control laws have been developed. The approach of the proposed intelligent control strategy is to continuously monitor the system performance and identify what the system's current state is by using a fault detection method based upon our best knowledge of the nominal system and nominal controller. Once a fault is detected, the proposed intelligent controller will adjust its control signal to compensate for the unknown system failure dynamics by using an artificial neural network as an on-line estimator to approximate the unexpected and unknown failure dynamics. The first control law is derived directly from the Lyapunov stability theory, while the second control law is derived based upon the discrete-time sliding mode control technique. Both control laws have been implemented in a variety of failure scenarios to validate the proposed intelligent control scheme. The simulation results, including a three-tank benchmark problem, comply with theoretical analysis and demonstrate a significant improvement in trajectory following performance based upon the proposed intelligent control strategy.

Integrated dynamic analysis simulation of space stations with controllable solar arrays (supplemental data and analyses)

NASA Technical Reports Server (NTRS)

Heinrichs, J. A.; Fee, J. J.

1972-01-01

Space station and solar array data and the analyses which were performed in support of the integrated dynamic analysis study. The analysis methods and the formulated digital simulation were developed. Control systems for space station altitude control and solar array orientation control include generic type control systems. These systems have been digitally coded and included in the simulation.

Dynamics and Control of a Quadrotor with Active Geometric Morphing

NASA Astrophysics Data System (ADS)

Wallace, Dustin A.

Quadrotors are manufactured in a wide variety of shapes, sizes, and performance levels to fulfill a multitude of roles. Robodub Inc. has patented a morphing quadrotor which will allow active reconfiguration between various shapes for performance optimization across a wider spectrum of roles. The dynamics of the system are studied and modeled using Newtonian Mechanics. Controls are developed and simulated using both Linear Quadratic and Numerical Nonlinear Optimal control for a symmetric simplificiation of the system dynamics. Various unique vehicle capabilities are investigated, including novel single-throttle flight control using symmetric geometric morphing, as well as recovery from motor loss by reconfiguring into a trirotor configuration. The system dynamics were found to be complex and highly nonlinear. All attempted control strategies resulted in controllability, suggesting further research into each may lead to multiple viable control strategies for a physical prototype.

Dynamic control of photosynthetic photon flux for lettuce production in CELSS

NASA Technical Reports Server (NTRS)

Chun, C.; Mitchell, C. A.

1996-01-01

A new dynamic control of photosynthetic photon flux (PPF) was tested using lettuce canopies growing in the Minitron II plant-growth/canopy gas-exchange system. Canopy photosynthetic rates (Pn) were measured in real time and fedback for further environment control. Pn can be manipulated by changing PPF, which is a good environmental parameter for dynamic control of crop production in a Controlled Ecological Life-Support Systems CELSS. Decision making that combines empirical mathematical models with rule sets developed from recent experimental data was tested. With comparable yield indices and potential for energy savings, dynamic control strategies will contribute greatly to the sustainability of space-deployed CELSS.

Optimal Guaranteed Cost Sliding Mode Control for Constrained-Input Nonlinear Systems With Matched and Unmatched Disturbances.

PubMed

Zhang, Huaguang; Qu, Qiuxia; Xiao, Geyang; Cui, Yang

2018-06-01

Based on integral sliding mode and approximate dynamic programming (ADP) theory, a novel optimal guaranteed cost sliding mode control is designed for constrained-input nonlinear systems with matched and unmatched disturbances. When the system moves on the sliding surface, the optimal guaranteed cost control problem of sliding mode dynamics is transformed into the optimal control problem of a reformulated auxiliary system with a modified cost function. The ADP algorithm based on single critic neural network (NN) is applied to obtain the approximate optimal control law for the auxiliary system. Lyapunov techniques are used to demonstrate the convergence of the NN weight errors. In addition, the derived approximate optimal control is verified to guarantee the sliding mode dynamics system to be stable in the sense of uniform ultimate boundedness. Some simulation results are presented to verify the feasibility of the proposed control scheme.

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.

Dynamics analysis of fractional order Yu-Wang system

NASA Astrophysics Data System (ADS)

Bhalekar, Sachin

2013-10-01

Fractional order version of a dynamical system introduced by Yu and Wang (Engineering, Technology & Applied Science Research, 2, (2012) 209-215) is discussed in this article. The basic dynamical properties of the system are studied. Minimum effective dimension 0.942329 for the existence of chaos in the proposed system is obtained using the analytical result. For chaos detection, we have calculated maximum Lyapunov exponents for various values of fractional order. Feedback control method is then used to control chaos in the system. Further, the system is synchronized with itself and with fractional order financial system using active control technique. Modified Adams-Bashforth-Moulton algorithm is used for numerical simulations.

Robustness of continuous-time adaptive control algorithms in the presence of unmodeled dynamics

NASA Technical Reports Server (NTRS)

Rohrs, C. E.; Valavani, L.; Athans, M.; Stein, G.

1985-01-01

This paper examines the robustness properties of existing adaptive control algorithms to unmodeled plant high-frequency dynamics and unmeasurable output disturbances. It is demonstrated that there exist two infinite-gain operators in the nonlinear dynamic system which determines the time-evolution of output and parameter errors. The pragmatic implications of the existence of such infinite-gain operators is that: (1) sinusoidal reference inputs at specific frequencies and/or (2) sinusoidal output disturbances at any frequency (including dc), can cause the loop gain to increase without bound, thereby exciting the unmodeled high-frequency dynamics, and yielding an unstable control system. Hence, it is concluded that existing adaptive control algorithms as they are presented in the literature referenced in this paper, cannot be used with confidence in practical designs where the plant contains unmodeled dynamics because instability is likely to result. Further understanding is required to ascertain how the currently implemented adaptive systems differ from the theoretical systems studied here and how further theoretical development can improve the robustness of adaptive controllers.

Simulated Annealing-based Optimal Proportional-Integral-Derivative (PID) Controller Design: A Case Study on Nonlinear Quadcopter Dynamics

NASA Astrophysics Data System (ADS)

Nemirsky, Kristofer Kevin

In this thesis, the history and evolution of rotor aircraft with simulated annealing-based PID application were reviewed and quadcopter dynamics are presented. The dynamics of a quadcopter were then modeled, analyzed, and linearized. A cascaded loop architecture with PID controllers was used to stabilize the plant dynamics, which was improved upon through the application of simulated annealing (SA). A Simulink model was developed to test the controllers and verify the functionality of the proposed control system design. In addition, the data that the Simulink model provided were compared with flight data to present the validity of derived dynamics as a proper mathematical model representing the true dynamics of the quadcopter system. Then, the SA-based global optimization procedure was applied to obtain optimized PID parameters. It was observed that the tuned gains through the SA algorithm produced a better performing PID controller than the original manually tuned one. Next, we investigated the uncertain dynamics of the quadcopter setup. After adding uncertainty to the gyroscopic effects associated with pitch-and-roll rate dynamics, the controllers were shown to be robust against the added uncertainty. A discussion follows to summarize SA-based algorithm PID controller design and performance outcomes. Lastly, future work on SA application on multi-input-multi-output (MIMO) systems is briefly discussed.

NASA Workshop on Distributed Parameter Modeling and Control of Flexible Aerospace Systems

NASA Technical Reports Server (NTRS)

Marks, Virginia B. (Compiler); Keckler, Claude R. (Compiler)

1994-01-01

Although significant advances have been made in modeling and controlling flexible systems, there remains a need for improvements in model accuracy and in control performance. The finite element models of flexible systems are unduly complex and are almost intractable to optimum parameter estimation for refinement using experimental data. Distributed parameter or continuum modeling offers some advantages and some challenges in both modeling and control. Continuum models often result in a significantly reduced number of model parameters, thereby enabling optimum parameter estimation. The dynamic equations of motion of continuum models provide the advantage of allowing the embedding of the control system dynamics, thus forming a complete set of system dynamics. There is also increased insight provided by the continuum model approach.

A control system design approach for flexible spacecraft

NASA Technical Reports Server (NTRS)

Silverberg, L. M.

1985-01-01

A control system design approach for flexible spacecraft is presented. The control system design is carried out in two steps. The first step consists of determining the ideal control system in terms of a desirable dynamic performance. The second step consists of designing a control system using a limited number of actuators that possess a dynamic performance that is close to the ideal dynamic performance. The effects of using a limited number of actuators is that the actual closed-loop eigenvalues differ from the ideal closed-loop eigenvalues. A method is presented to approximate the actual closed-loop eigenvalues so that the calculation of the actual closed-loop eigenvalues can be avoided. Depending on the application, it also may be desirable to apply the control forces as impulses. The effect of digitizing the control to produce the appropriate impulses is also examined.

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

Predictive Multiple Model Switching Control with the Self-Organizing Map

NASA Technical Reports Server (NTRS)

Motter, Mark A.

2000-01-01

A predictive, multiple model control strategy is developed by extension of self-organizing map (SOM) local dynamic modeling of nonlinear autonomous systems to a control framework. Multiple SOMs collectively model the global response of a nonautonomous system to a finite set of representative prototype controls. Each SOM provides a codebook representation of the dynamics corresponding to a prototype control. Different dynamic regimes are organized into topological neighborhoods where the adjacent entries in the codebook represent the global minimization of a similarity metric. The SOM is additionally employed to identify the local dynamical regime, and consequently implements a switching scheme that selects the best available model for the applied control. SOM based linear models are used to predict the response to a larger family of control sequences which are clustered on the representative prototypes. The control sequence which corresponds to the prediction that best satisfies the requirements on the system output is applied as the external driving signal.

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.

Intelligent control of non-linear dynamical system based on the adaptive neurocontroller

NASA Astrophysics Data System (ADS)

Engel, E.; Kovalev, I. V.; Kobezhicov, V.

2015-10-01

This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the base of system's state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simulation results show that the proposed controller scheme achieves real-time control speed and the competitive performance, as compared to PID, fuzzy logic controllers.

A 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

Mechatronics by Analogy and Application to Legged Locomotion

NASA Astrophysics Data System (ADS)

Ragusila, Victor

A new design methodology for mechatronic systems, dubbed as Mechatronics by Analogy (MbA), is introduced and applied to designing a leg mechanism. The new methodology argues that by establishing a similarity relation between a complex system and a number of simpler models it is possible to design the former using the analysis and synthesis means developed for the latter. The methodology provides a framework for concurrent engineering of complex systems while maintaining the transparency of the system behaviour through making formal analogies between the system and those with more tractable dynamics. The application of the MbA methodology to the design of a monopod robot leg, called the Linkage Leg, is also studied. A series of simulations show that the dynamic behaviour of the Linkage Leg is similar to that of a combination of a double pendulum and a spring-loaded inverted pendulum, based on which the system kinematic, dynamic, and control parameters can be designed concurrently. The first stage of Mechatronics by Analogy is a method of extracting significant features of system dynamics through simpler models. The goal is to determine a set of simpler mechanisms with similar dynamic behaviour to that of the original system in various phases of its motion. A modular bond-graph representation of the system is determined, and subsequently simplified using two simplification algorithms. The first algorithm determines the relevant dynamic elements of the system for each phase of motion, and the second algorithm finds the simple mechanism described by the remaining dynamic elements. In addition to greatly simplifying the controller for the system, using simpler mechanisms with similar behaviour provides a greater insight into the dynamics of the system. This is seen in the second stage of the new methodology, which concurrently optimizes the simpler mechanisms together with a control system based on their dynamics. Once the optimal configuration of the simpler system is determined, the original mechanism is optimized such that its dynamic behaviour is analogous. It is shown that, if this analogy is achieved, the control system designed based on the simpler mechanisms can be directly implemented to the more complex system, and their dynamic behaviours are close enough for the system performance to be effectively the same. Finally it is shown that, for the employed objective of fast legged locomotion, the proposed methodology achieves a better design than Reduction-by-Feedback, a competing methodology that uses control layers to simplify the dynamics of the system.

Chattering-Free Sliding Mode Control with Unmodeled Dynamics

NASA Technical Reports Server (NTRS)

Krupp, Don; Shtessel, Yuri B.

1999-01-01

Sliding mode control systems are valued for their robust accommodation of uncertainties and their ability to reject disturbances. In this paper, a design methodology is proposed to eliminate the chattering phenomenon affecting sliding mode controlled plants with input unmodeled actuator dynamics of second order or greater. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. The controller utilizes the pass filter characteristics of the physical actuating device to provide a smoothing effect on the discontinuous control signal rather than introducing any artificial dynamics into the controller design thus eliminating chattering in the system's output response.

Decentralized automatic generation control of interconnected power systems incorporating asynchronous tie-lines.

PubMed

Ibraheem; Hasan, Naimul; Hussein, Arkan Ahmed

2014-01-01

This Paper presents the design of decentralized automatic generation controller for an interconnected power system using PID, Genetic Algorithm (GA) and Particle Swarm Optimization (PSO). The designed controllers are tested on identical two-area interconnected power systems consisting of thermal power plants. The area interconnections between two areas are considered as (i) AC tie-line only (ii) Asynchronous tie-line. The dynamic response analysis is carried out for 1% load perturbation. The performance of the intelligent controllers based on GA and PSO has been compared with the conventional PID controller. The investigations of the system dynamic responses reveal that PSO has the better dynamic response result as compared with PID and GA controller for both type of area interconnection.

Anticipatory Neurofuzzy Control

NASA Technical Reports Server (NTRS)

Mccullough, Claire L.

1994-01-01

Technique of feedback control, called "anticipatory neurofuzzy control," developed for use in controlling flexible structures and other dynamic systems for which mathematical models of dynamics poorly known or unknown. Superior ability to act during operation to compensate for, and adapt to, errors in mathematical model of dynamics, changes in dynamics, and noise. Also offers advantage of reduced computing time. Hybrid of two older fuzzy-logic control techniques: standard fuzzy control and predictive fuzzy control.

Application of numerical optimization techniques to control system design for nonlinear dynamic models of aircraft

NASA Technical Reports Server (NTRS)

Lan, C. Edward; Ge, Fuying

1989-01-01

Control system design for general nonlinear flight dynamic models is considered through numerical simulation. The design is accomplished through a numerical optimizer coupled with analysis of flight dynamic equations. The general flight dynamic equations are numerically integrated and dynamic characteristics are then identified from the dynamic response. The design variables are determined iteratively by the optimizer to optimize a prescribed objective function which is related to desired dynamic characteristics. Generality of the method allows nonlinear effects to aerodynamics and dynamic coupling to be considered in the design process. To demonstrate the method, nonlinear simulation models for an F-5A and an F-16 configurations are used to design dampers to satisfy specifications on flying qualities and control systems to prevent departure. The results indicate that the present method is simple in formulation and effective in satisfying the design objectives.

On Restructurable Control System Theory

NASA Technical Reports Server (NTRS)

Athans, M.

1983-01-01

The state of stochastic system and control theory as it impacts restructurable control issues is addressed. The multivariable characteristics of the control problem are addressed. The failure detection/identification problem is discussed as a multi-hypothesis testing problem. Control strategy reconfiguration, static multivariable controls, static failure hypothesis testing, dynamic multivariable controls, fault-tolerant control theory, dynamic hypothesis testing, generalized likelihood ratio (GLR) methods, and adaptive control are discussed.

Structure-based control of complex networks with nonlinear dynamics

NASA Astrophysics Data System (ADS)

Zanudo, Jorge G. T.; Yang, Gang; Albert, Reka

What can we learn about controlling a system solely from its underlying network structure? Here we use a framework for control of networks governed by a broad class of nonlinear dynamics that includes the major dynamic models of biological, technological, and social processes. This feedback-based framework provides realizable node overrides that steer a system towards any of its natural long term dynamic behaviors, regardless of the dynamic details and system parameters. We use this framework on several real networks, identify the topological characteristics that underlie the predicted node overrides, and compare its predictions to those of classical structural control theory. Finally, we demonstrate this framework's applicability in dynamic models of gene regulatory networks and identify nodes whose override is necessary for control in the general case, but not in specific model instances. This work was supported by NSF Grants PHY 1205840 and IIS 1160995. JGTZ is a recipient of a Stand Up To Cancer - The V Foundation Convergence Scholar Award.

Computer program system for dynamic simulation and stability analysis of passive and actively controlled spacecraft. Volume 1. Theory

NASA Technical Reports Server (NTRS)

Bodley, C. S.; Devers, D. A.; Park, C. A.

1975-01-01

A theoretical development and associated digital computer program system is 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 may be 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. Additionally, the program system may be used for design of attitude control systems and for evaluation of total dynamic system performance including time domain response and frequency domain stability analyses. Volume 1 presents the theoretical developments including a description of the physical system, the equations of dynamic equilibrium, discussion of kinematics and system topology, a complete treatment of momentum wheel coupling, and a discussion of gravity gradient and environmental effects. Volume 2, is a program users' guide and includes a description of the overall digital program code, individual subroutines and a description of required program input and generated program output. Volume 3 presents the results of selected demonstration problems that illustrate all program system capabilities.

Longitudinal control of aircraft dynamics based on optimization of PID parameters

NASA Astrophysics Data System (ADS)

Deepa, S. N.; Sudha, G.

2016-03-01

Recent years many flight control systems and industries are employing PID controllers to improve the dynamic behavior of the characteristics. In this paper, PID controller is developed to improve the stability and performance of general aviation aircraft system. Designing the optimum PID controller parameters for a pitch control aircraft is important in expanding the flight safety envelope. Mathematical model is developed to describe the longitudinal pitch control of an aircraft. The PID controller is designed based on the dynamic modeling of an aircraft system. Different tuning methods namely Zeigler-Nichols method (ZN), Modified Zeigler-Nichols method, Tyreus-Luyben tuning, Astrom-Hagglund tuning methods are employed. The time domain specifications of different tuning methods are compared to obtain the optimum parameters value. The results prove that PID controller tuned by Zeigler-Nichols for aircraft pitch control dynamics is better in stability and performance in all conditions. Future research work of obtaining optimum PID controller parameters using artificial intelligence techniques should be carried out.

Dynamic control and information processing in chemical reaction systems by tuning self-organization behavior

NASA Astrophysics Data System (ADS)

Lebiedz, Dirk; Brandt-Pollmann, Ulrich

2004-09-01

Specific external control of chemical reaction systems and both dynamic control and signal processing as central functions in biochemical reaction systems are important issues of modern nonlinear science. For example nonlinear input-output behavior and its regulation are crucial for the maintainance of the life process that requires extensive communication between cells and their environment. An important question is how the dynamical behavior of biochemical systems is controlled and how they process information transmitted by incoming signals. But also from a general point of view external forcing of complex chemical reaction processes is important in many application areas ranging from chemical engineering to biomedicine. In order to study such control issues numerically, here, we choose a well characterized chemical system, the CO oxidation on Pt(110), which is interesting per se as an externally forced chemical oscillator model. We show numerically that tuning of temporal self-organization by input signals in this simple nonlinear chemical reaction exhibiting oscillatory behavior can in principle be exploited for both specific external control of dynamical system behavior and processing of complex information.

Dynamics and Control of Vehicles

Science.gov Websites

Contacts Researchers Thrust Area 1: Dynamics and Control of Vehicles Thrust Area Leader: Dr. Tulga Ersal economy, mobility, and safety of modern vehicles heavily rely on the numerous control systems that fulfill storage in electrified powertrains. All these vehicle control systems rely in turn on a solid

Data-driven robust approximate optimal tracking control for unknown general nonlinear systems using adaptive dynamic programming method.

PubMed

Zhang, Huaguang; Cui, Lili; Zhang, Xin; Luo, Yanhong

2011-12-01

In this paper, a novel data-driven robust approximate optimal tracking control scheme is proposed for unknown general nonlinear systems by using the adaptive dynamic programming (ADP) method. In the design of the controller, only available input-output data is required instead of known system dynamics. A data-driven model is established by a recurrent neural network (NN) to reconstruct the unknown system dynamics using available input-output data. By adding a novel adjustable term related to the modeling error, the resultant modeling error is first guaranteed to converge to zero. Then, based on the obtained data-driven model, the ADP method is utilized to design the approximate optimal tracking controller, which consists of the steady-state controller and the optimal feedback controller. Further, a robustifying term is developed to compensate for the NN approximation errors introduced by implementing the ADP method. Based on Lyapunov approach, stability analysis of the closed-loop system is performed to show that the proposed controller guarantees the system state asymptotically tracking the desired trajectory. Additionally, the obtained control input is proven to be close to the optimal control input within a small bound. Finally, two numerical examples are used to demonstrate the effectiveness of the proposed control scheme.

Model based manipulator control

NASA Technical Reports Server (NTRS)

Petrosky, Lyman J.; Oppenheim, Irving J.

1989-01-01

The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

Dynamic optimization and adaptive controller design

NASA Astrophysics Data System (ADS)

Inamdar, S. R.

2010-10-01

In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.

Robust control of combustion instabilities

NASA Astrophysics Data System (ADS)

Hong, Boe-Shong

Several interactive dynamical subsystems, each of which has its own time-scale and physical significance, are decomposed to build a feedback-controlled combustion- fluid robust dynamics. On the fast-time scale, the phenomenon of combustion instability is corresponding to the internal feedback of two subsystems: acoustic dynamics and flame dynamics, which are parametrically dependent on the slow-time-scale mean-flow dynamics controlled for global performance by a mean-flow controller. This dissertation constructs such a control system, through modeling, analysis and synthesis, to deal with model uncertainties, environmental noises and time- varying mean-flow operation. Conservation law is decomposed as fast-time acoustic dynamics and slow-time mean-flow dynamics, served for synthesizing LPV (linear parameter varying)- L2-gain robust control law, in which a robust observer is embedded for estimating and controlling the internal status, while achieving trade- offs among robustness, performances and operation. The robust controller is formulated as two LPV-type Linear Matrix Inequalities (LMIs), whose numerical solver is developed by finite-element method. Some important issues related to physical understanding and engineering application are discussed in simulated results of the control system.

Adaptive and neuroadaptive control for nonnegative and compartmental dynamical systems

NASA Astrophysics Data System (ADS)

Volyanskyy, Kostyantyn Y.

Neural networks have been extensively used for adaptive system identification as well as adaptive and neuroadaptive control of highly uncertain systems. The goal of adaptive and neuroadaptive control is to achieve system performance without excessive reliance on system models. To improve robustness and the speed of adaptation of adaptive and neuroadaptive controllers several controller architectures have been proposed in the literature. In this dissertation, we develop a new neuroadaptive control architecture for nonlinear uncertain dynamical systems. The proposed framework involves a novel controller architecture with additional terms in the update laws that are constructed using a moving window of the integrated system uncertainty. These terms can be used to identify the ideal system weights of the neural network as well as effectively suppress system uncertainty. Linear and nonlinear parameterizations of the system uncertainty are considered and state and output feedback neuroadaptive controllers are developed. Furthermore, we extend the developed framework to discrete-time dynamical systems. To illustrate the efficacy of the proposed approach we apply our results to an aircraft model with wing rock dynamics, a spacecraft model with unknown moment of inertia, and an unmanned combat aerial vehicle undergoing actuator failures, and compare our results with standard neuroadaptive control methods. Nonnegative systems are essential in capturing the behavior of a wide range of dynamical systems involving dynamic states whose values are nonnegative. A sub-class of nonnegative dynamical systems are compartmental systems. These systems are derived from mass and energy balance considerations and are comprised of homogeneous interconnected microscopic subsystems or compartments which exchange variable quantities of material via intercompartmental flow laws. In this dissertation, we develop direct adaptive and neuroadaptive control framework for stabilization, disturbance rejection and noise suppression for nonnegative and compartmental dynamical systems with noise and exogenous system disturbances. We then use the developed framework to control the infusion of the anesthetic drug propofol for maintaining a desired constant level of depth of anesthesia for surgery in the face of continuing hemorrhage and hemodilution. Critical care patients, whether undergoing surgery or recovering in intensive care units, require drug administration to regulate physiological variables such as blood pressure, cardiac output, heart rate, and degree of consciousness. The rate of infusion of each administered drug is critical, requiring constant monitoring and frequent adjustments. In this dissertation, we develop a neuroadaptive output feedback control framework for nonlinear uncertain nonnegative and compartmental systems with nonnegative control inputs and noisy measurements. The proposed framework is Lyapunov-based and guarantees ultimate boundedness of the error signals. In addition, the neuroadaptive controller guarantees that the physical system states remain in the nonnegative orthant of the state space. Finally, the developed approach is used to control the infusion of the anesthetic drug propofol for maintaining a desired constant level of depth of anesthesia for surgery in the face of noisy electroencephalographic (EEG) measurements. Clinical trials demonstrate excellent regulation of unconsciousness allowing for a safe and effective administration of the anesthetic agent propofol. Furthermore, a neuroadaptive output feedback control architecture for nonlinear nonnegative dynamical systems with input amplitude and integral constraints is developed. Specifically, the neuroadaptive controller guarantees that the imposed amplitude and integral input constraints are satisfied and the physical system states remain in the nonnegative orthant of the state space. The proposed approach is used to control the infusion of the anesthetic drug propofol for maintaining a desired constant level of depth of anesthesia for noncardiac surgery in the face of infusion rate constraints and a drug dosing constraint over a specified period. In addition, the aforementioned control architecture is used to control lung volume and minute ventilation with input pressure constraints that also accounts for spontaneous breathing by the patient. Specifically, we develop a pressure- and work-limited neuroadaptive controller for mechanical ventilation based on a nonlinear multi-compartmental lung model. The control framework does not rely on any averaged data and is designed to automatically adjust the input pressure to the patient's physiological characteristics capturing lung resistance and compliance modeling uncertainty. Moreover, the controller accounts for input pressure constraints as well as work of breathing constraints. The effect of spontaneous breathing is incorporated within the lung model and the control framework. Finally, a neural network hybrid adaptive control framework for nonlinear uncertain hybrid dynamical systems is developed. The proposed hybrid adaptive control framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop hybrid system; that is, asymptotic stability with respect to part of the closed-loop system states associated with the hybrid plant states. A numerical example is provided to demonstrate the efficacy of the proposed hybrid adaptive stabilization approach.

Access Control for Cooperation Systems Based on Group Situation

NASA Astrophysics Data System (ADS)

Kim, Minsoo; Joshi, James B. D.; Kim, Minkoo

Cooperation systems characterize many emerging environments such as ubiquitous and pervasive systems. Agent based cooperation systems have been proposed in the literature to address challenges of such emerging application environments. A key aspect of such agent based cooperation system is the group situation that changes dynamically and governs the requirements of the cooperation. While individual agent context is important, the overall cooperation behavior is more driven by the group context because of relationships and interactions between agents. Dynamic access control based on group situation is a crucial challenge in such cooperation systems. In this paper we propose a dynamic role based access control model for cooperation systems based on group situation. The model emphasizes capability based agent to role mapping and group situation based permission assignment to allow capturing dynamic access policies that evolve continuously.

Chaos as the hub of systems dynamics. The part I-The attitude control of spacecraft by involving in the heteroclinic chaos

NASA Astrophysics Data System (ADS)

Doroshin, Anton V.

2018-06-01

In this work the chaos in dynamical systems is considered as a positive aspect of dynamical behavior which can be applied to change systems dynamical parameters and, moreover, to change systems qualitative properties. From this point of view, the chaos can be characterized as a hub for the system dynamical regimes, because it allows to interconnect separated zones of the phase space of the system, and to fulfill the jump into the desirable phase space zone. The concretized aim of this part of the research is to focus on developing the attitude control method for magnetized gyrostat-satellites, which uses the passage through the intentionally generated heteroclinic chaos. The attitude dynamics of the satellite/spacecraft in this case represents the series of transitions from the initial dynamical regime into the chaotic heteroclinic regime with the subsequent exit to the final target dynamical regime with desirable parameters of the attitude dynamics.

Salience network dynamics underlying successful resistance of temptation

PubMed Central

Nomi, Jason S; Calhoun, Vince D; Stelzel, Christine; Paschke, Lena M; Gaschler, Robert; Goschke, Thomas; Walter, Henrik; Uddin, Lucina Q

2017-01-01

Abstract Self-control and the ability to resist temptation are critical for successful completion of long-term goals. Contemporary models in cognitive neuroscience emphasize the primary role of prefrontal cognitive control networks in aligning behavior with such goals. Here, we use gaze pattern analysis and dynamic functional connectivity fMRI data to explore how individual differences in the ability to resist temptation are related to intrinsic brain dynamics of the cognitive control and salience networks. Behaviorally, individuals exhibit greater gaze distance from target location (e.g. higher distractibility) during presentation of tempting erotic images compared with neutral images. Individuals whose intrinsic dynamic functional connectivity patterns gravitate toward configurations in which salience detection systems are less strongly coupled with visual systems resist tempting distractors more effectively. The ability to resist tempting distractors was not significantly related to intrinsic dynamics of the cognitive control network. These results suggest that susceptibility to temptation is governed in part by individual differences in salience network dynamics and provide novel evidence for involvement of brain systems outside canonical cognitive control networks in contributing to individual differences in self-control. PMID:29048582

The Roles of Feedback and Feedforward as Humans Learn to Control Unknown Dynamic Systems.

PubMed

Zhang, Xingye; Wang, Shaoqian; Hoagg, Jesse B; Seigler, T Michael

2018-02-01

We present results from an experiment in which human subjects interact with an unknown dynamic system 40 times during a two-week period. During each interaction, subjects are asked to perform a command-following (i.e., pursuit tracking) task. Each subject's performance at that task improves from the first trial to the last trial. For each trial, we use subsystem identification to estimate each subject's feedforward (or anticipatory) control, feedback (or reactive) control, and feedback time delay. Over the 40 trials, the magnitudes of the identified feedback controllers and the identified feedback time delays do not change significantly. In contrast, the identified feedforward controllers do change significantly. By the last trial, the average identified feedforward controller approximates the inverse of the dynamic system. This observation provides evidence that a fundamental component of human learning is updating the anticipatory control until it models the inverse dynamics.

Airborne Simulation of Launch Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Gilligan, Eric T.; Miller, Christopher J.; Hanson, Curtis E.; Orr, Jeb S.

2014-01-01

In this paper we present a technique for approximating the short-period dynamics of an exploration-class launch vehicle during flight test with a high-performance surrogate aircraft in relatively benign endoatmospheric flight conditions. The surrogate vehicle relies upon a nonlinear dynamic inversion scheme with proportional-integral feedback to drive a subset of the aircraft states into coincidence with the states of a time-varying reference model that simulates the unstable rigid body dynamics, servodynamics, and parasitic elastic and sloshing dynamics of the launch vehicle. The surrogate aircraft flies a constant pitch rate trajectory to approximate the boost phase gravity-turn ascent, and the aircraft's closed-loop bandwidth is sufficient to simulate the launch vehicle's fundamental lateral bending and sloshing modes by exciting the rigid body dynamics of the aircraft. A novel control allocation scheme is employed to utilize the aircraft's relatively fast control effectors in inducing various failure modes for the purposes of evaluating control system performance. Sufficient dynamic similarity is achieved such that the control system under evaluation is optimized for the full-scale vehicle with no changes to its parameters, and pilot-control system interaction studies can be performed to characterize the effects of guidance takeover during boost. High-fidelity simulation and flight test results are presented that demonstrate the efficacy of the design in simulating the Space Launch System (SLS) launch vehicle dynamics using NASA Dryden Flight Research Center's Full-scale Advanced Systems Testbed (FAST), a modified F/A-18 airplane, over a range of scenarios designed to stress the SLS's adaptive augmenting control (AAC) algorithm.

Neural-network-observer-based optimal control for unknown nonlinear systems using adaptive dynamic programming

NASA Astrophysics Data System (ADS)

Liu, Derong; Huang, Yuzhu; Wang, Ding; Wei, Qinglai

2013-09-01

In this paper, an observer-based optimal control scheme is developed for unknown nonlinear systems using adaptive dynamic programming (ADP) algorithm. First, a neural-network (NN) observer is designed to estimate system states. Then, based on the observed states, a neuro-controller is constructed via ADP method to obtain the optimal control. In this design, two NN structures are used: a three-layer NN is used to construct the observer which can be applied to systems with higher degrees of nonlinearity and without a priori knowledge of system dynamics, and a critic NN is employed to approximate the value function. The optimal control law is computed using the critic NN and the observer NN. Uniform ultimate boundedness of the closed-loop system is guaranteed. The actor, critic, and observer structures are all implemented in real-time, continuously and simultaneously. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

Optimal design for robust control of uncertain flexible joint manipulators: a fuzzy dynamical system approach

NASA Astrophysics Data System (ADS)

Han, Jiang; Chen, Ye-Hwa; Zhao, Xiaomin; Dong, Fangfang

2018-04-01

A novel fuzzy dynamical system approach to the control design of flexible joint manipulators with mismatched uncertainty is proposed. Uncertainties of the system are assumed to lie within prescribed fuzzy sets. The desired system performance includes a deterministic phase and a fuzzy phase. First, by creatively implanting a fictitious control, a robust control scheme is constructed to render the system uniformly bounded and uniformly ultimately bounded. Both the manipulator modelling and control scheme are deterministic and not IF-THEN heuristic rules-based. Next, a fuzzy-based performance index is proposed. An optimal design problem for a control design parameter is formulated as a constrained optimisation problem. The global solution to this problem can be obtained from solving two quartic equations. The fuzzy dynamical system approach is systematic and is able to assure the deterministic performance as well as to minimise the fuzzy performance index.

Data-based virtual unmodeled dynamics driven multivariable nonlinear adaptive switching control.

PubMed

Chai, Tianyou; Zhang, Yajun; Wang, Hong; Su, Chun-Yi; Sun, Jing

2011-12-01

For a complex industrial system, its multivariable and nonlinear nature generally make it very difficult, if not impossible, to obtain an accurate model, especially when the model structure is unknown. The control of this class of complex systems is difficult to handle by the traditional controller designs around their operating points. This paper, however, explores the concepts of controller-driven model and virtual unmodeled dynamics to propose a new design framework. The design consists of two controllers with distinct functions. First, using input and output data, a self-tuning controller is constructed based on a linear controller-driven model. Then the output signals of the controller-driven model are compared with the true outputs of the system to produce so-called virtual unmodeled dynamics. Based on the compensator of the virtual unmodeled dynamics, the second controller based on a nonlinear controller-driven model is proposed. Those two controllers are integrated by an adaptive switching control algorithm to take advantage of their complementary features: one offers stabilization function and another provides improved performance. The conditions on the stability and convergence of the closed-loop system are analyzed. Both simulation and experimental tests on a heavily coupled nonlinear twin-tank system are carried out to confirm the effectiveness of the proposed method.

Dynamic Modeling and Control of Nuclear Reactors Coupled to Closed-Loop Brayton Cycle Systems using SIMULINK{sup TM}

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

Wright, Steven A.; Sanchez, Travis

2005-02-06

The operation of space reactors for both in-space and planetary operations will require unprecedented levels of autonomy and control. Development of these autonomous control systems will require dynamic system models, effective control methodologies, and autonomous control logic. This paper briefly describes the results of reactor, power-conversion, and control models that are implemented in SIMULINK{sup TM} (Simulink, 2004). SIMULINK{sup TM} is a development environment packaged with MatLab{sup TM} (MatLab, 2004) that allows the creation of dynamic state flow models. Simulation modules for liquid metal, gas cooled reactors, and electrically heated systems have been developed, as have modules for dynamic power-conversion componentsmore » such as, ducting, heat exchangers, turbines, compressors, permanent magnet alternators, and load resistors. Various control modules for the reactor and the power-conversion shaft speed have also been developed and simulated. The modules are compiled into libraries and can be easily connected in different ways to explore the operational space of a number of potential reactor, power-conversion system configurations, and control approaches. The modularity and variability of these SIMULINK{sup TM} models provides a way to simulate a variety of complete power generation systems. To date, both Liquid Metal Reactors (LMR), Gas Cooled Reactors (GCR), and electric heaters that are coupled to gas-dynamics systems and thermoelectric systems have been simulated and are used to understand the behavior of these systems. Current efforts are focused on improving the fidelity of the existing SIMULINK{sup TM} modules, extending them to include isotopic heaters, heat pipes, Stirling engines, and on developing state flow logic to provide intelligent autonomy. The simulation code is called RPC-SIM (Reactor Power and Control-Simulator)« less

The Effects of Longitudinal Control-System Dynamics on Pilot Opinion and Response Characteristics as Determined from Flight Tests and from Ground Simulator Studies

NASA Technical Reports Server (NTRS)

Sadoff, Melvin

1958-01-01

The results of a fixed-base simulator study of the effects of variable longitudinal control-system dynamics on pilot opinion are presented and compared with flight-test data. The control-system variables considered in this investigation included stick force per g, time constant, and dead-band, or stabilizer breakout force. In general, the fairly good correlation between flight and simulator results for two pilots demonstrates the validity of fixed-base simulator studies which are designed to complement and supplement flight studies and serve as a guide in control-system preliminary design. However, in the investigation of certain problem areas (e.g., sensitive control-system configurations associated with pilot- induced oscillations in flight), fixed-base simulator results did not predict the occurrence of an instability, although the pilots noted the system was extremely sensitive and unsatisfactory. If it is desired to predict pilot-induced-oscillation tendencies, tests in moving-base simulators may be required. It was found possible to represent the human pilot by a linear pilot analog for the tracking task assumed in the present study. The criterion used to adjust the pilot analog was the root-mean-square tracking error of one of the human pilots on the fixed-base simulator. Matching the tracking error of the pilot analog to that of the human pilot gave an approximation to the variation of human-pilot behavior over a range of control-system dynamics. Results of the pilot-analog study indicated that both for optimized control-system dynamics (for poor airplane dynamics) and for a region of good airplane dynamics, the pilot response characteristics are approximately the same.

Generating Spatiotemporal Joint Torque Patterns from Dynamical Synchronization of Distributed Pattern Generators

PubMed Central

Pitti, Alexandre; Lungarella, Max; Kuniyoshi, Yasuo

2009-01-01

Pattern generators found in the spinal cord are no more seen as simple rhythmic oscillators for motion control. Indeed, they achieve flexible and dynamical coordination in interaction with the body and the environment dynamics giving to rise motor synergies. Discovering the mechanisms underlying the control of motor synergies constitutes an important research question not only for neuroscience but also for robotics: the motors coordination of high dimensional robotic systems is still a drawback and new control methods based on biological solutions may reduce their overall complexity. We propose to model the flexible combination of motor synergies in embodied systems via partial phase synchronization of distributed chaotic systems; for specific coupling strength, chaotic systems are able to phase synchronize their dynamics to the resonant frequencies of one external force. We take advantage of this property to explore and exploit the intrinsic dynamics of one specified embodied system. In two experiments with bipedal walkers, we show how motor synergies emerge when the controllers phase synchronize to the body's dynamics, entraining it to its intrinsic behavioral patterns. This stage is characterized by directed information flow from the sensors to the motors exhibiting the optimal situation when the body dynamics drive the controllers (mutual entrainment). Based on our results, we discuss the relevance of our findings for modeling the modular control of distributed pattern generators exhibited in the spinal cord, and for exploring the motor synergies in robots. PMID:20011216

On the dynamics of a generalized predator-prey system with Z-type control.

PubMed

Lacitignola, Deborah; Diele, Fasma; Marangi, Carmela; Provenzale, Antonello

2016-10-01

We apply the Z-control approach to a generalized predator-prey system and consider the specific case of indirect control of the prey population. We derive the associated Z-controlled model and investigate its properties from the point of view of the dynamical systems theory. The key role of the design parameter λ for the successful application of the method is stressed and related to specific dynamical properties of the Z-controlled model. Critical values of the design parameter are also found, delimiting the λ-range for the effectiveness of the Z-method. Analytical results are then numerically validated by the means of two ecological models: the classical Lotka-Volterra model and a model related to a case study of the wolf-wild boar dynamics in the Alta Murgia National Park. Investigations on these models also highlight how the Z-control method acts in respect to different dynamical regimes of the uncontrolled model. Copyright © 2016 The Authors. Published by Elsevier Inc. All rights reserved.

Direct heuristic dynamic programming for damping oscillations in a large power system.

PubMed

Lu, Chao; Si, Jennie; Xie, Xiaorong

2008-08-01

This paper applies a neural-network-based approximate dynamic programming method, namely, the direct heuristic dynamic programming (direct HDP), to a large power system stability control problem. The direct HDP is a learning- and approximation-based approach to addressing nonlinear coordinated control under uncertainty. One of the major design parameters, the controller learning objective function, is formulated to directly account for network-wide low-frequency oscillation with the presence of nonlinearity, uncertainty, and coupling effect among system components. Results include a novel learning control structure based on the direct HDP with applications to two power system problems. The first case involves static var compensator supplementary damping control, which is used to provide a comprehensive evaluation of the learning control performance. The second case aims at addressing a difficult complex system challenge by providing a new solution to a large interconnected power network oscillation damping control problem that frequently occurs in the China Southern Power Grid.

Fuzzy model-based servo and model following control for nonlinear systems.

PubMed

Ohtake, Hiroshi; Tanaka, Kazuo; Wang, Hua O

2009-12-01

This correspondence presents servo and nonlinear model following controls for a class of nonlinear systems using the Takagi-Sugeno fuzzy model-based control approach. First, the construction method of the augmented fuzzy system for continuous-time nonlinear systems is proposed by differentiating the original nonlinear system. Second, the dynamic fuzzy servo controller and the dynamic fuzzy model following controller, which can make outputs of the nonlinear system converge to target points and to outputs of the reference system, respectively, are introduced. Finally, the servo and model following controller design conditions are given in terms of linear matrix inequalities. Design examples illustrate the utility of this approach.

Biomolecular Modeling in a Process Dynamics and Control Course

ERIC Educational Resources Information Center

Gray, Jeffrey J.

2006-01-01

I present modifications to the traditional course entitled, "Process dynamics and control," which I renamed "Modeling, dynamics, and control of chemical and biological processes." Additions include the central dogma of biology, pharmacokinetic systems, population balances, control of gene transcription, and large­-scale…

A case study in nonlinear dynamics and control of articulated spacecraft: The Space Station Freedom with a mobile remote manipulator system

NASA Technical Reports Server (NTRS)

Bennett, William H.; Kwatny, Harry G.; Lavigna, Chris; Blankenship, Gilmer

1994-01-01

The following topics are discussed: (1) modeling of articulated spacecraft as multi-flex-body systems; (2) nonlinear attitude control by adaptive partial feedback linearizing (PFL) control; (3) attitude dynamics and control for SSF/MRMS; and (4) performance analysis results for attitude control of SSF/MRMS.

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

Ares I Flight Control System Overview

NASA Technical Reports Server (NTRS)

Hall, Charles; Lee, Chong; Jackson, Mark; Whorton, Mark; West, mark; Brandon, Jay; Hall, Rob A.; Jang, Jimmy; Bedrossian, Naz; Compton, Jimmy;

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.

Mechanism synthesis and 2-D control designs of an active three cable crane

NASA Technical Reports Server (NTRS)

Yang, Li-Farn; Mikulas, Martin M., Jr.

1992-01-01

A Lunar Crane with a suspension system based on a three cable mechanism is investigated to provide a stable end-effector for hoisting, positioning, and assembling large components during construction and servicing of a Lunar Base. The three cable suspension mechanism consists of a structural framework of three cables pointing to a common point that closely coincides with the suspended payload's center of gravity. The vibrational characteristics of this three cable suspension system are investigated by comparing a simple 2-D symmetric suspension model and a swinging pendulum in terms of their analytical natural frequency equations. A study is also made of actively controlling the dynamics of the crane using two different actuator concepts. Also, Lyapunov-based control algorithms are developed to determine two regulator-type control laws performing the system vibrational suppression for both system dynamics. Simulations including initial-valued dynamic responses as well as control performances for two different system dynamics are also presented.

A Low Cost Microcomputer System for Process Dynamics and Control Simulations.

ERIC Educational Resources Information Center

Crowl, D. A.; Durisin, M. J.

1983-01-01

Discusses a video simulator microcomputer system used to provide real-time demonstrations to strengthen students' understanding of process dynamics and control. Also discusses hardware/software and simulations developed using the system. The four simulations model various configurations of a process liquid level tank system. (JN)

Control of complex networks requires both structure and dynamics

NASA Astrophysics Data System (ADS)

Gates, Alexander J.; Rocha, Luis M.

2016-04-01

The study of network structure has uncovered signatures of the organization of complex systems. However, there is also a need to understand how to control them; for example, identifying strategies to revert a diseased cell to a healthy state, or a mature cell to a pluripotent state. Two recent methodologies suggest that the controllability of complex systems can be predicted solely from the graph of interactions between variables, without considering their dynamics: structural controllability and minimum dominating sets. We demonstrate that such structure-only methods fail to characterize controllability when dynamics are introduced. We study Boolean network ensembles of network motifs as well as three models of biochemical regulation: the segment polarity network in Drosophila melanogaster, the cell cycle of budding yeast Saccharomyces cerevisiae, and the floral organ arrangement in Arabidopsis thaliana. We demonstrate that structure-only methods both undershoot and overshoot the number and which sets of critical variables best control the dynamics of these models, highlighting the importance of the actual system dynamics in determining control. Our analysis further shows that the logic of automata transition functions, namely how canalizing they are, plays an important role in the extent to which structure predicts dynamics.

Reduced-order dynamic output feedback control of uncertain discrete-time Markov jump linear systems

NASA Astrophysics Data System (ADS)

Morais, Cecília F.; Braga, Márcio F.; Oliveira, Ricardo C. L. F.; Peres, Pedro L. D.

2017-11-01

This paper deals with the problem of designing reduced-order robust dynamic output feedback controllers for discrete-time Markov jump linear systems (MJLS) with polytopic state space matrices and uncertain transition probabilities. Starting from a full order, mode-dependent and polynomially parameter-dependent dynamic output feedback controller, sufficient linear matrix inequality based conditions are provided for the existence of a robust reduced-order dynamic output feedback stabilising controller with complete, partial or none mode dependency assuring an upper bound to the ? or the ? norm of the closed-loop system. The main advantage of the proposed method when compared to the existing approaches is the fact that the dynamic controllers are exclusively expressed in terms of the decision variables of the problem. In other words, the matrices that define the controller realisation do not depend explicitly on the state space matrices associated with the modes of the MJLS. As a consequence, the method is specially suitable to handle order reduction or cluster availability constraints in the context of ? or ? dynamic output feedback control of discrete-time MJLS. Additionally, as illustrated by means of numerical examples, the proposed approach can provide less conservative results than other conditions in the literature.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exporation

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1972-01-01

The problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars were investigated. Problem areas receiving attention include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis; navigation, terrain modeling and path selection; and chemical analysis of specimens. The following specific tasks were studied: vehicle model design, mathematical modeling of dynamic vehicle, experimental vehicle dynamics, obstacle negotiation, electromechanical controls, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, chromatograph model evaluation and improvement and transport parameter evaluation.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1972-01-01

Investigation of problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars has been undertaken. Problem areas receiving attention include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis; terrain modeling and path selection; and chemical analysis of specimens. The following specific tasks have been under study: vehicle model design, mathematical modeling of a dynamic vehicle, experimental vehicle dynamics, obstacle negotiation, electromechanical controls, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer sybsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, chromatograph model evaluation and improvement.

Wiener-Hopf optimal control of a hydraulic canal prototype with fractional order dynamics.

PubMed

Feliu-Batlle, Vicente; Feliu-Talegón, Daniel; San-Millan, Andres; Rivas-Pérez, Raúl

2017-06-26

This article addresses the control of a laboratory hydraulic canal prototype that has fractional order dynamics and a time delay. Controlling this prototype is relevant since its dynamics closely resembles the dynamics of real main irrigation canals. Moreover, the dynamics of hydraulic canals vary largely when the operation regime changes since they are strongly nonlinear systems. All this makes difficult to design adequate controllers. The controller proposed in this article looks for a good time response to step commands. The design criterium for this controller is minimizing the integral performance index ISE. Then a new methodology to control fractional order processes with a time delay, based on the Wiener-Hopf control and the Padé approximation of the time delay, is developed. Moreover, in order to improve the robustness of the control system, a gain scheduling fractional order controller is proposed. Experiments show the adequate performance of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Suppression of chaos via control of energy flow

NASA Astrophysics Data System (ADS)

Guo, Shengli; Ma, Jun; Alsaedi, Ahmed

2018-03-01

Continuous energy supply is critical and important to support oscillating behaviour; otherwise, the oscillator will die. For nonlinear and chaotic circuits, enough energy supply is also important to keep electric devices working. In this paper, Hamilton energy is calculated for dimensionless dynamical system (e.g., the chaotic Lorenz system) using Helmholtz's theorem. The Hamilton energy is considered as a new variable and then the dynamical system is controlled by using the scheme of energy feedback. It is found that chaos can be suppressed even when intermittent feedback scheme is applied. This scheme is effective to control chaos and to stabilise other dynamical systems.

Feedback control laws for highly maneuverable aircraft

NASA Technical Reports Server (NTRS)

Garrard, William L.; Balas, Gary J.

1994-01-01

During the first half of the year, the investigators concentrated their efforts on completing the design of control laws for the longitudinal axis of the HARV. During the second half of the year they concentrated on the synthesis of control laws for the lateral-directional axes. The longitudinal control law design efforts can be briefly summarized as follows. Longitudinal control laws were developed for the HARV using mu synthesis design techniques coupled with dynamic inversion. An inner loop dynamic inversion controller was used to simplify the system dynamics by eliminating the aerodynamic nonlinearities and inertial cross coupling. Models of the errors resulting from uncertainties in the principal longitudinal aerodynamic terms were developed and included in the model of the HARV with the inner loop dynamic inversion controller. This resulted in an inner loop transfer function model which was an integrator with the modeling errors characterized as uncertainties in gain and phase. Outer loop controllers were then designed using mu synthesis to provide robustness to these modeling errors and give desired response to pilot inputs. Both pitch rate and angle of attack command following systems were designed. The following tasks have been accomplished for the lateral-directional controllers: inner and outer loop dynamic inversion controllers have been designed; an error model based on a linearized perturbation model of the inner loop system was derived; controllers for the inner loop system have been designed, using classical techniques, that control roll rate and Dutch roll response; the inner loop dynamic inversion and classical controllers have been implemented on the six degree of freedom simulation; and lateral-directional control allocation scheme has been developed based on minimizing required control effort.

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.

Dynamic analysis of Space Shuttle/RMS configuration using continuum approach

NASA Technical Reports Server (NTRS)

Ramakrishnan, Jayant; Taylor, Lawrence W., Jr.

1994-01-01

The initial assembly of Space Station Freedom involves the Space Shuttle, its Remote Manipulation System (RMS) and the evolving Space Station Freedom. The dynamics of this coupled system involves both the structural and the control system dynamics of each of these components. The modeling and analysis of such an assembly is made even more formidable by kinematic and joint nonlinearities. The current practice of modeling such flexible structures is to use finite element modeling in which the mass and interior dynamics is ignored between thousands of nodes, for each major component. The model characteristics of only tens of modes are kept out of thousands which are calculated. The components are then connected by approximating the boundary conditions and inserting the control system dynamics. In this paper continuum models are used instead of finite element models because of the improved accuracy, reduced number of model parameters, the avoidance of model order reduction, and the ability to represent the structural and control system dynamics in the same system of equations. Dynamic analysis of linear versions of the model is performed and compared with finite element model results. Additionally, the transfer matrix to continuum modeling is presented.

Adaptive dynamic surface control of flexible-joint robots using self-recurrent wavelet neural networks.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2006-12-01

A new method for the robust control of flexible-joint (FJ) robots with model uncertainties in both robot dynamics and actuator dynamics is proposed. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self-recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides the ability to overcome the "explosion of complexity" problem in backstepping controllers. The SRWNNs are used to observe the arbitrary model uncertainties of FJ robots, and all their weights are trained online. From the Lyapunov stability analysis, their adaptation laws are induced, and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a three-link FJ robot are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the proposed control system.

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.

Dynamic Analysis and Adaptive Sliding Mode Controller for a Chaotic Fractional Incommensurate Order Financial System

NASA Astrophysics Data System (ADS)

Hajipour, Ahmad; Tavakoli, Hamidreza

2017-12-01

In this study, the dynamic behavior and chaos control of a chaotic fractional incommensurate-order financial system are investigated. Using well-known tools of nonlinear theory, i.e. Lyapunov exponents, phase diagrams and bifurcation diagrams, we observe some interesting phenomena, e.g. antimonotonicity, crisis phenomena and route to chaos through a period doubling sequence. Adopting largest Lyapunov exponent criteria, we find that the system yields chaos at the lowest order of 2.15. Next, in order to globally stabilize the chaotic fractional incommensurate order financial system with uncertain dynamics, an adaptive fractional sliding mode controller is designed. Numerical simulations are used to demonstrate the effectiveness of the proposed control method.

Global neural dynamic surface tracking control of strict-feedback systems with application to hypersonic flight vehicle.

PubMed

Xu, Bin; Yang, Chenguang; Pan, Yongping

2015-10-01

This paper studies both indirect and direct global neural control of strict-feedback systems in the presence of unknown dynamics, using the dynamic surface control (DSC) technique in a novel manner. A new switching mechanism is designed to combine an adaptive neural controller in the neural approximation domain, together with the robust controller that pulls the transient states back into the neural approximation domain from the outside. In comparison with the conventional control techniques, which could only achieve semiglobally uniformly ultimately bounded stability, the proposed control scheme guarantees all the signals in the closed-loop system are globally uniformly ultimately bounded, such that the conventional constraints on initial conditions of the neural control system can be relaxed. The simulation studies of hypersonic flight vehicle (HFV) are performed to demonstrate the effectiveness of the proposed global neural DSC design.

The dynamics and control of large flexible space structures. Part A: Discrete model and modal control

NASA Technical Reports Server (NTRS)

Bainum, P. M.; Sellappan, R.

1978-01-01

Attitude control techniques for the pointing and stabilization of very large, inherently flexible spacecraft systems were investigated. The attitude dynamics and control of a long, homogeneous flexible beam whose center of mass is assumed to follow a circular orbit was analyzed. First order effects of gravity gradient were included. A mathematical model which describes the system rotations and deflections within the orbital plane was developed by treating the beam as a number of discretized mass particles connected by massless, elastic structural elements. The uncontrolled dynamics of the system are simulated and, in addition, the effects of the control devices were considered. The concept of distributed modal control, which provides a means for controlling a system mode independently of all other modes, was examined. The effect of varying the number of modes in the model as well as the number and location of the control devices were also considered.

Modeling pilot interaction with automated digital avionics systems: Guidance and control algorithms for contour and nap-of-the-Earth flight

NASA Technical Reports Server (NTRS)

Hess, Ronald A.

1990-01-01

A collection of technical papers are presented that cover modeling pilot interaction with automated digital avionics systems and guidance and control algorithms for contour and nap-of-the-earth flight. The titles of the papers presented are as follows: (1) Automation effects in a multiloop manual control system; (2) A qualitative model of human interaction with complex dynamic systems; (3) Generalized predictive control of dynamic systems; (4) An application of generalized predictive control to rotorcraft terrain-following flight; (5) Self-tuning generalized predictive control applied to terrain-following flight; and (6) Precise flight path control using a predictive algorithm.

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.

Nonlinear control of linear parameter varying systems with applications to hypersonic vehicles

NASA Astrophysics Data System (ADS)

Wilcox, Zachary Donald

The focus of this dissertation is to design a controller for linear parameter varying (LPV) systems, apply it specifically to air-breathing hypersonic vehicles, and examine the interplay between control performance and the structural dynamics design. Specifically a Lyapunov-based continuous robust controller is developed that yields exponential tracking of a reference model, despite the presence of bounded, nonvanishing disturbances. The hypersonic vehicle has time varying parameters, specifically temperature profiles, and its dynamics can be reduced to an LPV system with additive disturbances. Since the HSV can be modeled as an LPV system the proposed control design is directly applicable. The control performance is directly examined through simulations. A wide variety of applications exist that can be effectively modeled as LPV systems. In particular, flight systems have historically been modeled as LPV systems and associated control tools have been applied such as gain-scheduling, linear matrix inequalities (LMIs), linear fractional transformations (LFT), and mu-types. However, as the type of flight environments and trajectories become more demanding, the traditional LPV controllers may no longer be sufficient. In particular, hypersonic flight vehicles (HSVs) present an inherently difficult problem because of the nonlinear aerothermoelastic coupling effects in the dynamics. HSV flight conditions produce temperature variations that can alter both the structural dynamics and flight dynamics. Starting with the full nonlinear dynamics, the aerothermoelastic effects are modeled by a temperature dependent, parameter varying state-space representation with added disturbances. The model includes an uncertain parameter varying state matrix, an uncertain parameter varying non-square (column deficient) input matrix, and an additive bounded disturbance. In this dissertation, a robust dynamic controller is formulated for a uncertain and disturbed LPV system. The developed controller is then applied to a HSV model, and a Lyapunov analysis is used to prove global exponential reference model tracking in the presence of uncertainty in the state and input matrices and exogenous disturbances. Simulations with a spectrum of gains and temperature profiles on the full nonlinear dynamic model of the HSV is used to illustrate the performance and robustness of the developed controller. In addition, this work considers how the performance of the developed controller varies over a wide variety of control gains and temperature profiles and are optimized with respect to different performance metrics. Specifically, various temperature profile models and related nonlinear temperature dependent disturbances are used to characterize the relative control performance and effort for each model. Examining such metrics as a function of temperature provides a potential inroad to examine the interplay between structural/thermal protection design and control development and has application for future HSV design and control implementation.

Artificial neural networks for control of a grid-connected rectifier/inverter under disturbance, dynamic and power converter switching conditions.

PubMed

Li, Shuhui; Fairbank, Michael; Johnson, Cameron; Wunsch, Donald C; Alonso, Eduardo; Proaño, Julio L

2014-04-01

Three-phase grid-connected converters are widely used in renewable and electric power system applications. Traditionally, grid-connected converters are controlled with standard decoupled d-q vector control mechanisms. However, recent studies indicate that such mechanisms show limitations in their applicability to dynamic systems. This paper investigates how to mitigate such restrictions using a neural network to control a grid-connected rectifier/inverter. The neural network implements a dynamic programming algorithm and is trained by using back-propagation through time. To enhance performance and stability under disturbance, additional strategies are adopted, including the use of integrals of error signals to the network inputs and the introduction of grid disturbance voltage to the outputs of a well-trained network. The performance of the neural-network controller is studied under typical vector control conditions and compared against conventional vector control methods, which demonstrates that the neural vector control strategy proposed in this paper is effective. Even in dynamic and power converter switching environments, the neural vector controller shows strong ability to trace rapidly changing reference commands, tolerate system disturbances, and satisfy control requirements for a faulted power system.

Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems

DTIC Science & Technology

2007-12-28

dynamic deployment and task allocation;verification and hybrid systems; and information management for cooperative control. The activity of the...32 5.3 Decidability Results on Discrete and Hybrid Systems ...... .................. 33 5.4 Switched Systems...solved. Verification and hybrid systems. The program has produced significant advances in the theory of hybrid input-output automata, (HIOA) and the

Topological Principles of Control in Dynamical Networks

NASA Astrophysics Data System (ADS)

Kim, Jason; Pasqualetti, Fabio; Bassett, Danielle

Networked biological systems, such as the brain, feature complex patterns of interactions. To predict and correct the dynamic behavior of such systems, it is imperative to understand how the underlying topological structure affects and limits the function of the system. Here, we use network control theory to extract topological features that favor or prevent network controllability, and to understand the network-wide effect of external stimuli on large-scale brain systems. Specifically, we treat each brain region as a dynamic entity with real-valued state, and model the time evolution of all interconnected regions using linear, time-invariant dynamics. We propose a simplified feed-forward scheme where the effect of upstream regions (drivers) on the connected downstream regions (non-drivers) is characterized in closed-form. Leveraging this characterization of the simplified model, we derive topological features that predict the controllability properties of non-simplified networks. We show analytically and numerically that these predictors are accurate across a large range of parameters. Among other contributions, our analysis shows that heterogeneity in the network weights facilitate controllability, and allows us to implement targeted interventions that profoundly improve controllability. By assuming an underlying dynamical mechanism, we are able to understand the complex topology of networked biological systems in a functionally meaningful way.

A study of helicopter stability and control including blade dynamics

NASA Technical Reports Server (NTRS)

Zhao, Xin; Curtiss, H. C., Jr.

1988-01-01

A linearized model of rotorcraft dynamics has been developed through the use of symbolic automatic equation generating techniques. The dynamic model has been formulated in a unique way such that it can be used to analyze a variety of rotor/body coupling problems including a rotor mounted on a flexible shaft with a number of modes as well as free-flight stability and control characteristics. Direct comparison of the time response to longitudinal, lateral and directional control inputs at various trim conditions shows that the linear model yields good to very good correlation with flight test. In particular it is shown that a dynamic inflow model is essential to obtain good time response correlation, especially for the hover trim condition. It also is shown that the main rotor wake interaction with the tail rotor and fixed tail surfaces is a significant contributor to the response at translational flight trim conditions. A relatively simple model for the downwash and sidewash at the tail surfaces based on flat vortex wake theory is shown to produce good agreement. Then, the influence of rotor flap and lag dynamics on automatic control systems feedback gain limitations is investigated with the model. It is shown that the blade dynamics, especially lagging dynamics, can severly limit the useable values of the feedback gain for simple feedback control and that multivariable optimal control theory is a powerful tool to design high gain augmentation control system. The frequency-shaped optimal control design can offer much better flight dynamic characteristics and a stable margin for the feedback system without need to model the lagging dynamics.

Modelling and control issues of dynamically substructured systems: adaptive forward prediction taken as an example

PubMed Central

Tu, Jia-Ying; Hsiao, Wei-De; Chen, Chih-Ying

2014-01-01

Testing techniques of dynamically substructured systems dissects an entire engineering system into parts. Components can be tested via numerical simulation or physical experiments and run synchronously. Additional actuator systems, which interface numerical and physical parts, are required within the physical substructure. A high-quality controller, which is designed to cancel unwanted dynamics introduced by the actuators, is important in order to synchronize the numerical and physical outputs and ensure successful tests. An adaptive forward prediction (AFP) algorithm based on delay compensation concepts has been proposed to deal with substructuring control issues. Although the settling performance and numerical conditions of the AFP controller are improved using new direct-compensation and singular value decomposition methods, the experimental results show that a linear dynamics-based controller still outperforms the AFP controller. Based on experimental observations, the least-squares fitting technique, effectiveness of the AFP compensation and differences between delay and ordinary differential equations are discussed herein, in order to reflect the fundamental issues of actuator modelling in relevant literature and, more specifically, to show that the actuator and numerical substructure are heterogeneous dynamic components and should not be collectively modelled as a homogeneous delay differential equation. PMID:25104902

Chaotic dynamics of controlled electric power systems

NASA Astrophysics Data System (ADS)

Kozlov, V. N.; Trosko, I. U.

2016-12-01

The conditions for appearance of chaotic dynamics of electromagnetic and electromechanical processes in energy systems described by the Park-Gorev bilinear differential equations with account for lags of coordinates and restrictions on control have been formulated. On the basis of classical equations, the parameters of synchronous generators and power lines, at which the chaotic dynamics of energy systems appears, have been found. The qualitative and quantitative characteristics of chaotic processes in energy associations of two types, based on the Hopf theorem, and methods of nonstationary linearization and decompositions are given. The properties of spectral characteristics of chaotic processes have been investigated, and the qualitative similarity of bilinear equations of power systems and Lorentz equations have been found. These results can be used for modernization of the systems of control of energy objects. The qualitative and quantitative characteristics for power energy systems as objects of control and for some laws of control with the feedback have been established.

Enhancing Autonomy of Aerial Systems Via Integration of Visual Sensors into Their Avionics Suite

DTIC Science & Technology

2016-09-01

aerial platform for subsequent visual sensor integration. 14. SUBJECT TERMS autonomous system, quadrotors, direct method, inverse ...CONTROLLER ARCHITECTURE .....................................................43 B. INVERSE DYNAMICS IN THE VIRTUAL DOMAIN ......................45 1...control station GPS Global-Positioning System IDVD inverse dynamics in the virtual domain ILP integer linear program INS inertial-navigation system

A Flight Control Approach for Small Reentry Vehicles

NASA Technical Reports Server (NTRS)

Bevacqoa, Tim; Adams, Tony; Zhu. J. Jim; Rao, P. Prabhakara

2004-01-01

Flight control of small crew return vehicles during atmospheric reentry will be an important technology in any human space flight mission undertaken in the future. The control system presented in this paper is applicable to small crew return vehicles in which reaction control system (RCS) thrusters are the only actuators available for attitude control. The control system consists of two modules: (i) the attitude controller using the trajectory linearization control (TLC) technique, and (ii) the reaction control system (RCS) control allocation module using a dynamic table-lookup technique. This paper describes the design and implementation of the TLC attitude control and the dynamic table-lookup RCS control allocation for nonimal flight along with design verification test results.

Airborne Simulation of Launch Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Miller, Christopher J.; Orr, Jeb S.; Hanson, Curtis E.; Gilligan, Eric T.

2015-01-01

In this paper we present a technique for approximating the short-period dynamics of an exploration-class launch vehicle during flight test with a high-performance surrogate aircraft in relatively benign endoatmospheric flight conditions. The surrogate vehicle relies upon a nonlinear dynamic inversion scheme with proportional-integral feedback to drive a subset of the aircraft states into coincidence with the states of a time-varying reference model that simulates the unstable rigid body dynamics, servodynamics, and parasitic elastic and sloshing dynamics of the launch vehicle. The surrogate aircraft flies a constant pitch rate trajectory to approximate the boost phase gravity turn ascent, and the aircraft's closed-loop bandwidth is sufficient to simulate the launch vehicle's fundamental lateral bending and sloshing modes by exciting the rigid body dynamics of the aircraft. A novel control allocation scheme is employed to utilize the aircraft's relatively fast control effectors in inducing various failure modes for the purposes of evaluating control system performance. Sufficient dynamic similarity is achieved such that the control system under evaluation is configured for the full-scale vehicle with no changes to its parameters, and pilot-control system interaction studies can be performed to characterize the effects of guidance takeover during boost. High-fidelity simulation and flight-test results are presented that demonstrate the efficacy of the design in simulating the Space Launch System (SLS) launch vehicle dynamics using the National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center Fullscale Advanced Systems Testbed (FAST), a modified F/A-18 airplane (McDonnell Douglas, now The Boeing Company, Chicago, Illinois), over a range of scenarios designed to stress the SLS's Adaptive Augmenting Control (AAC) algorithm.

A set-theoretic model reference adaptive control architecture for disturbance rejection and uncertainty suppression with strict performance guarantees

NASA Astrophysics Data System (ADS)

Arabi, Ehsan; Gruenwald, Benjamin C.; Yucelen, Tansel; Nguyen, Nhan T.

2018-05-01

Research in adaptive control algorithms for safety-critical applications is primarily motivated by the fact that these algorithms have the capability to suppress the effects of adverse conditions resulting from exogenous disturbances, imperfect dynamical system modelling, degraded modes of operation, and changes in system dynamics. Although government and industry agree on the potential of these algorithms in providing safety and reducing vehicle development costs, a major issue is the inability to achieve a-priori, user-defined performance guarantees with adaptive control algorithms. In this paper, a new model reference adaptive control architecture for uncertain dynamical systems is presented to address disturbance rejection and uncertainty suppression. The proposed framework is predicated on a set-theoretic adaptive controller construction using generalised restricted potential functions.The key feature of this framework allows the system error bound between the state of an uncertain dynamical system and the state of a reference model, which captures a desired closed-loop system performance, to be less than a-priori, user-defined worst-case performance bound, and hence, it has the capability to enforce strict performance guarantees. Examples are provided to demonstrate the efficacy of the proposed set-theoretic model reference adaptive control architecture.

Adaptive Control Based Harvesting Strategy for a Predator-Prey Dynamical System.

PubMed

Sen, Moitri; Simha, Ashutosh; Raha, Soumyendu

2018-04-23

This paper deals with designing a harvesting control strategy for a predator-prey dynamical system, with parametric uncertainties and exogenous disturbances. A feedback control law for the harvesting rate of the predator is formulated such that the population dynamics is asymptotically stabilized at a positive operating point, while maintaining a positive, steady state harvesting rate. The hierarchical block strict feedback structure of the dynamics is exploited in designing a backstepping control law, based on Lyapunov theory. In order to account for unknown parameters, an adaptive control strategy has been proposed in which the control law depends on an adaptive variable which tracks the unknown parameter. Further, a switching component has been incorporated to robustify the control performance against bounded disturbances. Proofs have been provided to show that the proposed adaptive control strategy ensures asymptotic stability of the dynamics at a desired operating point, as well as exact parameter learning in the disturbance-free case and learning with bounded error in the disturbance prone case. The dynamics, with uncertainty in the death rate of the predator, subjected to a bounded disturbance has been simulated with the proposed control strategy.

Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

NASA Astrophysics Data System (ADS)

Chen, Syuan-Yi; Gong, Sheng-Sian

2017-09-01

This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

Recent Developments in Smart Adaptive Structures for Solar Sailcraft

NASA Technical Reports Server (NTRS)

Whorton, M. S.; Kim, Y. K.; Oakley, J.; Adetona, O.; Keel, L. H.

2007-01-01

The "Smart Adaptive Structures for Solar Sailcraft" development activity at MSFC has investigated issues associated with understanding how to model and scale the subsystem and multi-body system dynamics of a gossamer solar sailcraft with the objective of designing sailcraft attitude control systems. This research and development activity addressed three key tasks that leveraged existing facilities and core competencies of MSFC to investigate dynamics and control issues of solar sails. Key aspects of this effort included modeling and testing of a 30 m deployable boom; modeling of the multi-body system dynamics of a gossamer sailcraft; investigation of control-structures interaction for gossamer sailcraft; and development and experimental demonstration of adaptive control technologies to mitigate control-structures interaction.

Development and Integration of Control System Models

NASA Technical Reports Server (NTRS)

Kim, Young K.

1998-01-01

The computer simulation tool, TREETOPS, has been upgraded and used at NASA/MSFC to model various complicated mechanical systems and to perform their dynamics and control analysis with pointing control systems. A TREETOPS model of Advanced X-ray Astrophysics Facility - Imaging (AXAF-1) dynamics and control system was developed to evaluate the AXAF-I pointing performance for Normal Pointing Mode. An optical model of Shooting Star Experiment (SSE) was also developed and its optical performance analysis was done using the MACOS software.

Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

NASA Astrophysics Data System (ADS)

Gering, Stefan; Adamy, Jürgen

2014-12-01

Flatness based feedforward control has proven to be a feasible solution for the problem of tracking control, which may be applied to a broad class of nonlinear systems. If a flat output of the system is known, the control is often based on a feedforward controller generating a nominal input in combination with a linear controller stabilizing the linearized error dynamics around the trajectory. We show in this paper that the very same idea may be incorporated for tracking control of MIMO recurrent fuzzy systems. Their dynamics is given by means of linguistic differential equations but may be converted into a hybrid system representation, which then serves as the basis for controller synthesis.

Sub-optimal control of fuzzy linear dynamical systems under granular differentiability concept.

PubMed

Mazandarani, Mehran; Pariz, Naser

2018-05-01

This paper deals with sub-optimal control of a fuzzy linear dynamical system. The aim is to keep the state variables of the fuzzy linear dynamical system close to zero in an optimal manner. In the fuzzy dynamical system, the fuzzy derivative is considered as the granular derivative; and all the coefficients and initial conditions can be uncertain. The criterion for assessing the optimality is regarded as a granular integral whose integrand is a quadratic function of the state variables and control inputs. Using the relative-distance-measure (RDM) fuzzy interval arithmetic and calculus of variations, the optimal control law is presented as the fuzzy state variables feedback. Since the optimal feedback gains are obtained as fuzzy functions, they need to be defuzzified. This will result in the sub-optimal control law. This paper also sheds light on the restrictions imposed by the approaches which are based on fuzzy standard interval arithmetic (FSIA), and use strongly generalized Hukuhara and generalized Hukuhara differentiability concepts for obtaining the optimal control law. The granular eigenvalues notion is also defined. Using an RLC circuit mathematical model, it is shown that, due to their unnatural behavior in the modeling phenomenon, the FSIA-based approaches may obtain some eigenvalues sets that might be different from the inherent eigenvalues set of the fuzzy dynamical system. This is, however, not the case with the approach proposed in this study. The notions of granular controllability and granular stabilizability of the fuzzy linear dynamical system are also presented in this paper. Moreover, a sub-optimal control for regulating a Boeing 747 in longitudinal direction with uncertain initial conditions and parameters is gained. In addition, an uncertain suspension system of one of the four wheels of a bus is regulated using the sub-optimal control introduced in this paper. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Discretization chaos - Feedback control and transition to chaos

NASA Technical Reports Server (NTRS)

Grantham, Walter J.; Athalye, Amit M.

1990-01-01

Problems in the design of feedback controllers for chaotic dynamical systems are considered theoretically, focusing on two cases where chaos arises only when a nonchaotic continuous-time system is discretized into a simpler discrete-time systems (exponential discretization and pseudo-Euler integration applied to Lotka-Volterra competition and prey-predator systems). Numerical simulation results are presented in extensive graphs and discussed in detail. It is concluded that care must be taken in applying standard dynamical-systems methods to control systems that may be discontinuous or nondifferentiable.

Multiscale System for Environmentally-Driven Infectious Disease with Threshold Control Strategy

NASA Astrophysics Data System (ADS)

Sun, Xiaodan; Xiao, Yanni

A multiscale system for environmentally-driven infectious disease is proposed, in which control measures at three different scales are implemented when the number of infected hosts exceeds a certain threshold. Our coupled model successfully describes the feedback mechanisms of between-host dynamics on within-host dynamics by employing one-scale variable guided enhancement of interventions on other scales. The modeling approach provides a novel idea of how to link the large-scale dynamics to small-scale dynamics. The dynamic behaviors of the multiscale system on two time-scales, i.e. fast system and slow system, are investigated. The slow system is further simplified to a two-dimensional Filippov system. For the Filippov system, we study the dynamics of its two subsystems (i.e. free-system and control-system), the sliding mode dynamics, the boundary equilibrium bifurcations, as well as the global behaviors. We prove that both subsystems may undergo backward bifurcations and the sliding domain exists. Meanwhile, it is possible that the pseudo-equilibrium exists and is globally stable, or the pseudo-equilibrium, the disease-free equilibrium and the real equilibrium are tri-stable, or the pseudo-equilibrium and the real equilibrium are bi-stable, or the pseudo-equilibrium and disease-free equilibrium are bi-stable, which depends on the threshold value and other parameter values. The global stability of the pseudo-equilibrium reveals that we may maintain the number of infected hosts at a previously given value. Moreover, the bi-stability and tri-stability indicate that whether the number of infected individuals tends to zero or a previously given value or other positive values depends on the parameter values and the initial states of the system. These results highlight the challenges in the control of environmentally-driven infectious disease.

Nonlinear dynamics as an engine of computation.

PubMed

Kia, Behnam; Lindner, John F; Ditto, William L

2017-03-06

Control of chaos teaches that control theory can tame the complex, random-like behaviour of chaotic systems. This alliance between control methods and physics-cybernetical physics-opens the door to many applications, including dynamics-based computing. In this article, we introduce nonlinear dynamics and its rich, sometimes chaotic behaviour as an engine of computation. We review our work that has demonstrated how to compute using nonlinear dynamics. Furthermore, we investigate the interrelationship between invariant measures of a dynamical system and its computing power to strengthen the bridge between physics and computation.This article is part of the themed issue 'Horizons of cybernetical physics'. © 2017 The Author(s).

Nonlinear dynamics as an engine of computation

PubMed Central

Lindner, John F.; Ditto, William L.

2017-01-01

Control of chaos teaches that control theory can tame the complex, random-like behaviour of chaotic systems. This alliance between control methods and physics—cybernetical physics—opens the door to many applications, including dynamics-based computing. In this article, we introduce nonlinear dynamics and its rich, sometimes chaotic behaviour as an engine of computation. We review our work that has demonstrated how to compute using nonlinear dynamics. Furthermore, we investigate the interrelationship between invariant measures of a dynamical system and its computing power to strengthen the bridge between physics and computation. This article is part of the themed issue ‘Horizons of cybernetical physics’. PMID:28115619

Implementation of Push Recovery Strategy Using Triple Linear Inverted Pendulum Model in “T-FloW” Humanoid Robot

NASA Astrophysics Data System (ADS)

Dimas Pristovani, R.; Raden Sanggar, D.; Dadet, Pramadihanto.

2018-04-01

Push recovery is one of humanbehaviorwhich is a strategy to defend the body from anexternal force in any environment. This paper describes push recovery strategy which usesMIMO decoupled control system method. The dynamics system uses aquasi-dynamic system based on triple linear inverted pendulum model (TLIPM). The analysis of TLIPMuses zero moment point (ZMP) calculation from ZMP simplification in last research. By using this simplification of dynamics system, the control design can be simplified into 3 serial SISOwith known and uncertain disturbance models in each inverted pendulum. Each pendulum has different plan to damp the external force effect. In this experiment, PID controller (closed- loop)is used to arrange the damp characteristic.The experiment result shows thatwhen using push recovery control strategy (closed-loop control) is about 85.71% whilewithout using push recovery control strategy (open-loop control) it is about 28.57%.

Trajectory tracking control for underactuated stratospheric airship

NASA Astrophysics Data System (ADS)

Zheng, Zewei; Huo, Wei; Wu, Zhe

2012-10-01

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.

Nonlinear flight control design using backstepping methodology

NASA Astrophysics Data System (ADS)

Tran, Thanh Trung

The subject of nonlinear flight control design using backstepping control methodology is investigated in the dissertation research presented here. Control design methods based on nonlinear models of the dynamic system provide higher utility and versatility because the design model more closely matches the physical system behavior. Obtaining requisite model fidelity is only half of the overall design process, however. Design of the nonlinear control loops can lessen the effects of nonlinearity, or even exploit nonlinearity, to achieve higher levels of closed-loop stability, performance, and robustness. The goal of the research is to improve control quality for a general class of strict-feedback dynamic systems and provide flight control architectures to augment the aircraft motion. The research is divided into two parts: theoretical control development for the strict-feedback form of nonlinear dynamic systems and application of the proposed theory for nonlinear flight dynamics. In the first part, the research is built on two components: transforming the nonlinear dynamic model to a canonical strict-feedback form and then applying backstepping control theory to the canonical model. The research considers a process to determine when this transformation is possible, and when it is possible, a systematic process to transfer the model is also considered when practical. When this is not the case, certain modeling assumptions are explored to facilitate the transformation. After achieving the canonical form, a systematic design procedure for formulating a backstepping control law is explored in the research. Starting with the simplest subsystem and ending with the full system, pseudo control concepts based on Lyapunov control functions are used to control each successive subsystem. Typically each pseudo control must be solved from a nonlinear algebraic equation. At the end of this process, the physical control input must be re-expressed in terms of the physical states by eliminating the pseudo control transformations. In the second part, the research focuses on nonlinear control design for flight dynamics of aircraft motion. Some assumptions on aerodynamics of the aircraft are addressed to transform full nonlinear flight dynamics into the canonical strict-feedback form. The assumptions are also analyzed, validated, and compared to show the advantages and disadvantages of the design models. With the achieved models, investigation focuses on formulating the backstepping control laws and provides an advanced control algorithm for nonlinear flight dynamics of the aircraft. Experimental and simulation studies are successfully implemented to validate the proposed control method. Advancement of nonlinear backstepping control theory and its application to nonlinear flight control are achieved in the dissertation research.

Terminal Sliding Mode-Based Consensus Tracking Control for Networked Uncertain Mechanical Systems on Digraphs.

PubMed

Chen, Gang; Song, Yongduan; Guan, Yanfeng

2018-03-01

This brief investigates the finite-time consensus tracking control problem for networked uncertain mechanical systems on digraphs. A new terminal sliding-mode-based cooperative control scheme is developed to guarantee that the tracking errors converge to an arbitrarily small bound around zero in finite time. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network is used at each node to approximate the local unknown dynamics. The control schemes are implemented in a fully distributed manner. The proposed control method eliminates some limitations in the existing terminal sliding-mode-based consensus control methods and extends the existing analysis methods to the case of directed graphs. Simulation results on networked robot manipulators are provided to show the effectiveness of the proposed control algorithms.

Research a Novel Integrated and Dynamic Multi-object Trade-Off Mechanism in Software Project

NASA Astrophysics Data System (ADS)

Jiang, Weijin; Xu, Yuhui

Aiming at practical requirements of present software project management and control, the paper presented to construct integrated multi-object trade-off model based on software project process management, so as to actualize integrated and dynamic trade-oil of the multi-object system of project. Based on analyzing basic principle of dynamic controlling and integrated multi-object trade-off system process, the paper integrated method of cybernetics and network technology, through monitoring on some critical reference points according to the control objects, emphatically discussed the integrated and dynamic multi- object trade-off model and corresponding rules and mechanism in order to realize integration of process management and trade-off of multi-object system.

Interaction Control to Synchronize Non-synchronizable Networks.

PubMed

Schröder, Malte; Chakraborty, Sagar; Witthaut, Dirk; Nagler, Jan; Timme, Marc

2016-11-17

Synchronization constitutes one of the most fundamental collective dynamics across networked systems and often underlies their function. Whether a system may synchronize depends on the internal unit dynamics as well as the topology and strength of their interactions. For chaotic units with certain interaction topologies synchronization might be impossible across all interaction strengths, meaning that these networks are non-synchronizable. Here we propose the concept of interaction control, generalizing transient uncoupling, to induce desired collective dynamics in complex networks and apply it to synchronize even such non-synchronizable systems. After highlighting that non-synchronizability prevails for a wide range of networks of arbitrary size, we explain how a simple binary control may localize interactions in state space and thereby synchronize networks. Intriguingly, localizing interactions by a fixed control scheme enables stable synchronization across all connected networks regardless of topological constraints. Interaction control may thus ease the design of desired collective dynamics even without knowledge of the networks' exact interaction topology and consequently have implications for biological and self-organizing technical systems.

Interaction Control to Synchronize Non-synchronizable Networks

PubMed Central

Schröder, Malte; Chakraborty, Sagar; Witthaut, Dirk; Nagler, Jan; Timme, Marc

2016-01-01

Synchronization constitutes one of the most fundamental collective dynamics across networked systems and often underlies their function. Whether a system may synchronize depends on the internal unit dynamics as well as the topology and strength of their interactions. For chaotic units with certain interaction topologies synchronization might be impossible across all interaction strengths, meaning that these networks are non-synchronizable. Here we propose the concept of interaction control, generalizing transient uncoupling, to induce desired collective dynamics in complex networks and apply it to synchronize even such non-synchronizable systems. After highlighting that non-synchronizability prevails for a wide range of networks of arbitrary size, we explain how a simple binary control may localize interactions in state space and thereby synchronize networks. Intriguingly, localizing interactions by a fixed control scheme enables stable synchronization across all connected networks regardless of topological constraints. Interaction control may thus ease the design of desired collective dynamics even without knowledge of the networks’ exact interaction topology and consequently have implications for biological and self-organizing technical systems. PMID:27853266

Control Augmented Structural Synthesis

NASA Technical Reports Server (NTRS)

Lust, Robert V.; Schmit, Lucien A.

1988-01-01

A methodology for control augmented structural synthesis is proposed for a class of structures which can be modeled as an assemblage of frame and/or truss elements. It is assumed that both the plant (structure) and the active control system dynamics can be adequately represented with a linear model. The structural sizing variables, active control system feedback gains and nonstructural lumped masses are treated simultaneously as independent design variables. Design constraints are imposed on static and dynamic displacements, static stresses, actuator forces and natural frequencies to ensure acceptable system behavior. Multiple static and dynamic loading conditions are considered. Side constraints imposed on the design variables protect against the generation of unrealizable designs. While the proposed approach is fundamentally more general, here the methodology is developed and demonstrated for the case where: (1) the dynamic loading is harmonic and thus the steady state response is of primary interest; (2) direct output feedback is used for the control system model; and (3) the actuators and sensors are collocated.

Combining pressure and temperature control in dynamics on energy landscapes

NASA Astrophysics Data System (ADS)

Hoffmann, Karl Heinz; Christian Schön, J.

2017-05-01

Complex systems from science, technology or mathematics usually appear to be very different in their specific dynamical evolution. However, the concept of an energy landscape with its basins corresponding to locally ergodic regions separated by energy barriers provides a unifying approach to the description of complex systems dynamics. In such systems one is often confronted with the task to control the dynamics such that a certain basin is reached with the highest possible probability. Typically one aims for the global minimum, e.g. when dealing with global optimization problems, but frequently other local minima such as the metastable compounds in materials science are of primary interest. Here we show how this task can be solved by applying control theory using magnesium fluoride as an example system, where different modifications of MgF2 are considered as targets. In particular, we generalize previous work restricted to temperature controls only and present controls which simultaneously adjust temperature and pressure in an optimal fashion.

Modelling the influence of sensory dynamics on linear and nonlinear driver steering control

NASA Astrophysics Data System (ADS)

Nash, C. J.; Cole, D. J.

2018-05-01

A recent review of the literature has indicated that sensory dynamics play an important role in the driver-vehicle steering task, motivating the design of a new driver model incorporating human sensory systems. This paper presents a full derivation of the linear driver model developed in previous work, and extends the model to control a vehicle with nonlinear tyres. Various nonlinear controllers and state estimators are compared with different approximations of the true system dynamics. The model simulation time is found to increase significantly with the complexity of the controller and state estimator. In general the more complex controllers perform best, although with certain vehicle and tyre models linearised controllers perform as well as a full nonlinear optimisation. Various extended Kalman filters give similar results, although the driver's sensory dynamics reduce control performance compared with full state feedback. The new model could be used to design vehicle systems which interact more naturally and safely with a human driver.

International Symposium on Spacecraft Ground Control and Flight Dynamics, SCD1, Sao Jose dos Campos, Brazil, Feb. 7-11, 1994

NASA Astrophysics Data System (ADS)

Rozenfeld, Pawel; Kuga, Helio Koiti; Orlando, Valcir

An international symposium on spacecraft flight dynamics and ground control systems produced 85 papers in the areas of attitude determination and control, orbit control, satellite constellation strategies, stationkeeping, spacecraft maneuvering, orbit determination, astrodynamics, ground command and control systems, and mission operations. Several papers included discussions on the application of artificial intelligence, neural networks, expert systems, and ion propulsion. For individual titles, see A95-89098 through A95-89182.

Expectation-Based Control of Noise and Chaos

NASA Technical Reports Server (NTRS)

Zak, Michael

2006-01-01

A proposed approach to control of noise and chaos in dynamic systems would supplement conventional methods. The approach is based on fictitious forces composed of expectations governed by Fokker-Planck or Liouville equations that describe the evolution of the probability densities of the controlled parameters. These forces would be utilized as feedback control forces that would suppress the undesired diffusion of the controlled parameters. Examples of dynamic systems in which the approach is expected to prove beneficial include spacecraft, electronic systems, and coupled lasers.

Fuzzy chaos control for vehicle lateral dynamics based on active suspension system

NASA Astrophysics Data System (ADS)

Huang, Chen; Chen, Long; Jiang, Haobin; Yuan, Chaochun; Xia, Tian

2014-07-01

The existing research of the active suspension system (ASS) mainly focuses on the different evaluation indexes and control strategies. Among the different components, the nonlinear characteristics of practical systems and control are usually not considered for vehicle lateral dynamics. But the vehicle model has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, the nonlinear dynamic model of lateral system is considered and also the adaptive neural network of tire is introduced. By nonlinear analysis methods, such as the bifurcation diagram and Lyapunov exponent, it has shown that the lateral dynamics exhibits complicated motions with the forward speed. Then, a fuzzy control method is applied to the lateral system aiming to convert chaos into periodic motion using the linear-state feedback of an available lateral force with changing tire load. Finally, the rapid control prototyping is built to conduct the real vehicle test. By comparison of time response diagram, phase portraits and Lyapunov exponents at different work conditions, the results on step input and S-shaped road indicate that the slip angle and yaw velocity of lateral dynamics enter into stable domain and the results of test are consistent to the simulation and verified the correctness of simulation. And the Lyapunov exponents of the closed-loop system are becoming from positive to negative. This research proposes a fuzzy control method which has sufficient suppress chaotic motions as an effective active suspension system.

Adaptive Sliding Mode Control of Dynamic Systems Using Double Loop Recurrent Neural Network Structure.

PubMed

Fei, Juntao; Lu, Cheng

2018-04-01

In this paper, an adaptive sliding mode control system using a double loop recurrent neural network (DLRNN) structure is proposed for a class of nonlinear dynamic systems. A new three-layer RNN is proposed to approximate unknown dynamics with two different kinds of feedback loops where the firing weights and output signal calculated in the last step are stored and used as the feedback signals in each feedback loop. Since the new structure has combined the advantages of internal feedback NN and external feedback NN, it can acquire the internal state information while the output signal is also captured, thus the new designed DLRNN can achieve better approximation performance compared with the regular NNs without feedback loops or the regular RNNs with a single feedback loop. The new proposed DLRNN structure is employed in an equivalent controller to approximate the unknown nonlinear system dynamics, and the parameters of the DLRNN are updated online by adaptive laws to get favorable approximation performance. To investigate the effectiveness of the proposed controller, the designed adaptive sliding mode controller with the DLRNN is applied to a -axis microelectromechanical system gyroscope to control the vibrating dynamics of the proof mass. Simulation results demonstrate that the proposed methodology can achieve good tracking property, and the comparisons of the approximation performance between radial basis function NN, RNN, and DLRNN show that the DLRNN can accurately estimate the unknown dynamics with a fast speed while the internal states of DLRNN are more stable.

Approximately adaptive neural cooperative control for nonlinear multiagent systems with performance guarantee

NASA Astrophysics Data System (ADS)

Wang, Jing; Yang, Tianyu; Staskevich, Gennady; Abbe, Brian

2017-04-01

This paper studies the cooperative control problem for a class of multiagent dynamical systems with partially unknown nonlinear system dynamics. In particular, the control objective is to solve the state consensus problem for multiagent systems based on the minimisation of certain cost functions for individual agents. Under the assumption that there exist admissible cooperative controls for such class of multiagent systems, the formulated problem is solved through finding the optimal cooperative control using the approximate dynamic programming and reinforcement learning approach. With the aid of neural network parameterisation and online adaptive learning, our method renders a practically implementable approximately adaptive neural cooperative control for multiagent systems. Specifically, based on the Bellman's principle of optimality, the Hamilton-Jacobi-Bellman (HJB) equation for multiagent systems is first derived. We then propose an approximately adaptive policy iteration algorithm for multiagent cooperative control based on neural network approximation of the value functions. The convergence of the proposed algorithm is rigorously proved using the contraction mapping method. The simulation results are included to validate the effectiveness of the proposed algorithm.

Trends in modern system theory

NASA Technical Reports Server (NTRS)

Athans, M.

1976-01-01

The topics considered are related to linear control system design, adaptive control, failure detection, control under failure, system reliability, and large-scale systems and decentralized control. It is pointed out that the design of a linear feedback control system which regulates a process about a desirable set point or steady-state condition in the presence of disturbances is a very important problem. The linearized dynamics of the process are used for design purposes. The typical linear-quadratic design involving the solution of the optimal control problem of a linear time-invariant system with respect to a quadratic performance criterion is considered along with gain reduction theorems and the multivariable phase margin theorem. The stumbling block in many adaptive design methodologies is associated with the amount of real time computation which is necessary. Attention is also given to the desperate need to develop good theories for large-scale systems, the beginning of a microprocessor revolution, the translation of the Wiener-Hopf theory into the time domain, and advances made in dynamic team theory, dynamic stochastic games, and finite memory stochastic control.

Dynamic Considerations for Control of Closed Life Support Systems

NASA Technical Reports Server (NTRS)

Babcock, P. S.; Auslander, D. M.; Spear, R. C.

1985-01-01

Reliability of closed life support systems depend on their ability to continue supplying the crew's needs during perturbations and equipment failures. The dynamic considerations interact with the basic static design through the sizing of storages, the specification of excess capacities in processors, and the choice of system initial state. A very simple system flow model was used to examine the possibilities for system failures even when there is sufficient storage to buffer the immediate effects of the perturbation. Two control schemes are shown which have different dynamic consequences in response to component failures.

Space shuttle flying qualities and criteria assessment

NASA Technical Reports Server (NTRS)

Myers, T. T.; Johnston, D. E.; Mcruer, Duane T.

1987-01-01

Work accomplished under a series of study tasks for the Flying Qualities and Flight Control Systems Design Criteria Experiment (OFQ) of the Shuttle Orbiter Experiments Program (OEX) is summarized. The tasks involved review of applicability of existing flying quality and flight control system specification and criteria for the Shuttle; identification of potentially crucial flying quality deficiencies; dynamic modeling of the Shuttle Orbiter pilot/vehicle system in the terminal flight phases; devising a nonintrusive experimental program for extraction and identification of vehicle dynamics, pilot control strategy, and approach and landing performance metrics, and preparation of an OEX approach to produce a data archive and optimize use of the data to develop flying qualities for future space shuttle craft in general. Analytic modeling of the Orbiter's unconventional closed-loop dynamics in landing, modeling pilot control strategies, verification of vehicle dynamics and pilot control strategy from flight data, review of various existent or proposed aircraft flying quality parameters and criteria in comparison with the unique dynamic characteristics and control aspects of the Shuttle in landing; and finally a summary of conclusions and recommendations for developing flying quality criteria and design guides for future Shuttle craft.

Dynamics and Control of Non-Smooth Systems with Applications to Supercavitating Vehicles

DTIC Science & Technology

2011-01-01

ABSTRACT Title of dissertation: Dynamics and Control of Non-Smooth Systems with Applications to Supercavitating Vehicles Vincent Nguyen, Doctor of...relates to the dynamics of non-smooth vehicle systems, and in particular, supercavitating vehicles. These high-speed under- water vehicles are...Applications to Supercavitating Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK

Parametric model of servo-hydraulic actuator coupled with a nonlinear system: Experimental validation

NASA Astrophysics Data System (ADS)

Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

2018-05-01

Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.

Computer simulation of multigrid body dynamics and control

NASA Technical Reports Server (NTRS)

Swaminadham, M.; Moon, Young I.; Venkayya, V. B.

1990-01-01

The objective is to set up and analyze benchmark problems on multibody dynamics and to verify the predictions of two multibody computer simulation codes. TREETOPS and DISCOS have been used to run three example problems - one degree-of-freedom spring mass dashpot system, an inverted pendulum system, and a triple pendulum. To study the dynamics and control interaction, an inverted planar pendulum with an external body force and a torsional control spring was modeled as a hinge connected two-rigid body system. TREETOPS and DISCOS affected the time history simulation of this problem. System state space variables and their time derivatives from two simulation codes were compared.

Extended cooperative control synthesis

NASA Technical Reports Server (NTRS)

Davidson, John B.; Schmidt, David K.

1994-01-01

This paper reports on research for extending the Cooperative Control Synthesis methodology to include a more accurate modeling of the pilot's controller dynamics. Cooperative Control Synthesis (CCS) is a methodology that addresses the problem of how to design control laws for piloted, high-order, multivariate systems and/or non-conventional dynamic configurations in the absence of flying qualities specifications. This is accomplished by emphasizing the parallel structure inherent in any pilot-controlled, augmented vehicle. The original CCS methodology is extended to include the Modified Optimal Control Model (MOCM), which is based upon the optimal control model of the human operator developed by Kleinman, Baron, and Levison in 1970. This model provides a modeling of the pilot's compensation dynamics that is more accurate than the simplified pilot dynamic representation currently in the CCS methodology. Inclusion of the MOCM into the CCS also enables the modeling of pilot-observation perception thresholds and pilot-observation attention allocation affects. This Extended Cooperative Control Synthesis (ECCS) allows for the direct calculation of pilot and system open- and closed-loop transfer functions in pole/zero form and is readily implemented in current software capable of analysis and design for dynamic systems. Example results based upon synthesizing an augmentation control law for an acceleration command system in a compensatory tracking task using the ECCS are compared with a similar synthesis performed by using the original CCS methodology. The ECCS is shown to provide augmentation control laws that yield more favorable, predicted closed-loop flying qualities and tracking performance than those synthesized using the original CCS methodology.

Regulation of Dynamical Systems to Optimal Solutions of Semidefinite Programs: Algorithms and Applications to AC Optimal Power Flow

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

Dall'Anese, Emiliano; Dhople, Sairaj V.; Giannakis, Georgios B.

2015-07-01

This paper considers a collection of networked nonlinear dynamical systems, and addresses the synthesis of feedback controllers that seek optimal operating points corresponding to the solution of pertinent network-wide optimization problems. Particular emphasis is placed on the solution of semidefinite programs (SDPs). The design of the feedback controller is grounded on a dual e-subgradient approach, with the dual iterates utilized to dynamically update the dynamical-system reference signals. Global convergence is guaranteed for diminishing stepsize rules, even when the reference inputs are updated at a faster rate than the dynamical-system settling time. The application of the proposed framework to the controlmore » of power-electronic inverters in AC distribution systems is discussed. The objective is to bridge the time-scale separation between real-time inverter control and network-wide optimization. Optimization objectives assume the form of SDP relaxations of prototypical AC optimal power flow problems.« less

Minimax terminal approach problem in two-level hierarchical nonlinear discrete-time dynamical system

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

Shorikov, A. F., E-mail: afshorikov@mail.ru

We consider a discrete–time dynamical system consisting of three controllable objects. The motions of all objects are given by the corresponding vector nonlinear or linear discrete–time recurrent vector relations, and control system for its has two levels: basic (first or I level) that is dominating and subordinate level (second or II level) and both have different criterions of functioning and united a priori by determined informational and control connections defined in advance. For the dynamical system in question, we propose a mathematical formalization in the form of solving a multistep problem of two-level hierarchical minimax program control over the terminalmore » approach process with incomplete information and give a general scheme for its solving.« less

Distributed dynamic simulations of networked control and building performance applications.

PubMed

Yahiaoui, Azzedine

2018-02-01

The use of computer-based automation and control systems for smart sustainable buildings, often so-called Automated Buildings (ABs), has become an effective way to automatically control, optimize, and supervise a wide range of building performance applications over a network while achieving the minimum energy consumption possible, and in doing so generally refers to Building Automation and Control Systems (BACS) architecture. Instead of costly and time-consuming experiments, this paper focuses on using distributed dynamic simulations to analyze the real-time performance of network-based building control systems in ABs and improve the functions of the BACS technology. The paper also presents the development and design of a distributed dynamic simulation environment with the capability of representing the BACS architecture in simulation by run-time coupling two or more different software tools over a network. The application and capability of this new dynamic simulation environment are demonstrated by an experimental design in this paper.

Distributed dynamic simulations of networked control and building performance applications

PubMed Central

Yahiaoui, Azzedine

2017-01-01

The use of computer-based automation and control systems for smart sustainable buildings, often so-called Automated Buildings (ABs), has become an effective way to automatically control, optimize, and supervise a wide range of building performance applications over a network while achieving the minimum energy consumption possible, and in doing so generally refers to Building Automation and Control Systems (BACS) architecture. Instead of costly and time-consuming experiments, this paper focuses on using distributed dynamic simulations to analyze the real-time performance of network-based building control systems in ABs and improve the functions of the BACS technology. The paper also presents the development and design of a distributed dynamic simulation environment with the capability of representing the BACS architecture in simulation by run-time coupling two or more different software tools over a network. The application and capability of this new dynamic simulation environment are demonstrated by an experimental design in this paper. PMID:29568135

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.

Nonequilibrium optical control of dynamical states in superconducting nanowire circuits.

PubMed

Madan, Ivan; Buh, Jože; Baranov, Vladimir V; Kabanov, Viktor V; Mrzel, Aleš; Mihailovic, Dragan

2018-03-01

Optical control of states exhibiting macroscopic phase coherence in condensed matter systems opens intriguing possibilities for materials and device engineering, including optically controlled qubits and photoinduced superconductivity. Metastable states, which in bulk materials are often associated with the formation of topological defects, are of more practical interest. Scaling to nanosize leads to reduced dimensionality, fundamentally changing the system's properties. In one-dimensional superconducting nanowires, vortices that are present in three-dimensional systems are replaced by fluctuating topological defects of the phase. These drastically change the dynamical behavior of the superconductor and introduce dynamical periodic long-range ordered states when the current is driven through the wire. We report the control and manipulation of transitions between different dynamically stable states in superconducting δ 3 -MoN nanowire circuits by ultrashort laser pulses. Not only can the transitions between different dynamically stable states be precisely controlled by light, but we also discovered new photoinduced hidden states that cannot be reached under near-equilibrium conditions, created while laser photoexcited quasi-particles are outside the equilibrium condition. The observed switching behavior can be understood in terms of dynamical stabilization of various spatiotemporal periodic trajectories of the order parameter in the superconductor nanowire, providing means for the optical control of the superconducting phase with subpicosecond control of timing.

Digital controller design: Analysis of the annular suspension pointing system. [analog controllers with feedback

NASA Technical Reports Server (NTRS)

Kuo, B. C.

1978-01-01

The analog controllers of the annular suspension pointing system are designed for control of the chi, phi sub 1, and phi sub 2 bandwidth dynamics through decoupling and pole placement. Since it is virtually impossible to find an equivalent bandwidth of the overall system and establish a general eigenvalue requirement for the system, the subsystem dynamics are decoupled through state feedback and the poles are placed simultaneously to realize the desired bandwidths for the three system components. Decoupling and pole placement are also used to design the closed-loop digital system through approximation.

Active synchronization between two different chaotic dynamical system

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

Maheri, M.; Arifin, N. Md; Ismail, F.

2015-05-15

In this paper we investigate on the synchronization problem between two different chaotic dynamical system based on the Lyapunov stability theorem by using nonlinear control functions. Active control schemes are used for synchronization Liu system as drive and Rossler system as response. Numerical simulation by using Maple software are used to show effectiveness of the proposed schemes.

Adaptive fuzzy wavelet network control of second order multi-agent systems with unknown nonlinear dynamics.

PubMed

Taheri, Mehdi; Sheikholeslam, Farid; Najafi, Majddedin; Zekri, Maryam

2017-07-01

In this paper, consensus problem is considered for second order multi-agent systems with unknown nonlinear dynamics under undirected graphs. A novel distributed control strategy is suggested for leaderless systems based on adaptive fuzzy wavelet networks. Adaptive fuzzy wavelet networks are employed to compensate for the effect of unknown nonlinear dynamics. Moreover, the proposed method is developed for leader following systems and leader following systems with state time delays. Lyapunov functions are applied to prove uniformly ultimately bounded stability of closed loop systems and to obtain adaptive laws. Three simulation examples are presented to illustrate the effectiveness of the proposed control algorithms. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

The Vestibular System and Human Dynamic Space Orientation

NASA Technical Reports Server (NTRS)

Meiry, J. L.

1966-01-01

The motion sensors of the vestibular system are studied to determine their role in human dynamic space orientation and manual vehicle control. The investigation yielded control models for the sensors, descriptions of the subsystems for eye stabilization, and demonstrations of the effects of motion cues on closed loop manual control. Experiments on the abilities of subjects to perceive a variety of linear motions provided data on the dynamic characteristics of the otoliths, the linear motion sensors. Angular acceleration threshold measurements supplemented knowledge of the semicircular canals, the angular motion sensors. Mathematical models are presented to describe the known control characteristics of the vestibular sensors, relating subjective perception of motion to objective motion of a vehicle. The vestibular system, the neck rotation proprioceptors and the visual system form part of the control system which maintains the eye stationary relative to a target or a reference. The contribution of each of these systems was identified through experiments involving head and body rotations about a vertical axis. Compensatory eye movements in response to neck rotation were demonstrated and their dynamic characteristics described by a lag-lead model. The eye motions attributable to neck rotations and vestibular stimulation obey superposition when both systems are active. Human operator compensatory tracking is investigated in simple vehicle orientation control system with stable and unstable controlled elements. Control of vehicle orientation to a reference is simulated in three modes: visual, motion and combined. Motion cues sensed by the vestibular system through tactile sensation enable the operator to generate more lead compensation than in fixed base simulation with only visual input. The tracking performance of the human in an unstable control system near the limits of controllability is shown to depend heavily upon the rate information provided by the vestibular sensors.

A Review of Dynamic Characteristics of Magnetically Levitated Vehicle Systems.

DTIC Science & Technology

1995-11-01

The dynamic response of magnetically levitated ( maglev ) ground transportation systems has important consequences for safety and ride quality...smoothness and levitation and control systems must be considered if maglev systems are to be economically feasible. The link between the guideway and the...other maglev components is vehicle dynamics. For a commercial maglev system, vehicle dynamics must be analyzed and tested in detail. This report, which

Static-dynamic hybrid communication scheduling and control co-design for networked control systems.

PubMed

Wen, Shixi; Guo, Ge

2017-11-01

In this paper, the static-dynamic hybrid communication scheduling and control co-design is proposed for the networked control systems (NCSs) to solve the capacity limitation of the wireless communication network. The analytical most regular binary sequences (MRBSs) are used as the communication scheduling function for NCSs. When the communication conflicts yielded in the binary sequence MRBSs, a dynamic scheduling strategy is proposed to on-line reallocate the medium access status for each plant. Under such static-dynamic hybrid scheduling policy, plants in NCSs are described as the non-uniform sampled-control systems, whose controller have a group of controller gains and switch according to the sampling interval yielded by the binary sequence. A useful communication scheduling and control co-design framework is proposed for the NCSs to simultaneously decide the controller gains and the parameters used to generate the communication sequences MRBS. Numerical example and realistic example are respectively given to demonstrate the effectiveness of the proposed co-design method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Dynamic Exergy Method for Evaluating the Control and Operation of Oxy-Combustion Boiler Island Systems.

PubMed

Jin, Bo; Zhao, Haibo; Zheng, Chuguang; Liang, Zhiwu

2017-01-03

Exergy-based methods are widely applied to assess the performance of energy conversion systems; however, these methods mainly focus on a certain steady-state and have limited applications for evaluating the control impacts on system operation. To dynamically obtain the thermodynamic behavior and reveal the influences of control structures, layers and loops, on system energy performance, a dynamic exergy method is developed, improved, and applied to a complex oxy-combustion boiler island system for the first time. The three most common operating scenarios are studied, and the results show that the flow rate change process leads to less energy consumption than oxygen purity and air in-leakage change processes. The variation of oxygen purity produces the largest impact on system operation, and the operating parameter sensitivity is not affected by the presence of process control. The control system saves energy during flow rate and oxygen purity change processes, while it consumes energy during the air in-leakage change process. More attention should be paid to the oxygen purity change because it requires the largest control cost. In the control system, the supervisory control layer requires the greatest energy consumption and the largest control cost to maintain operating targets, while the steam control loops cause the main energy consumption.

Dynamic Stiffness Transfer Function of an Electromechanical Actuator Using System Identification

NASA Astrophysics Data System (ADS)

Kim, Sang Hwa; Tahk, Min-Jea

2018-04-01

In the aeroelastic analysis of flight vehicles with electromechanical actuators (EMAs), an accurate prediction of flutter requires dynamic stiffness characteristics of the EMA. The dynamic stiffness transfer function of the EMA with brushless direct current (BLDC) motor can be obtained by conducting complicated mathematical calculations of control algorithms and mechanical/electrical nonlinearities using linearization techniques. Thus, system identification approaches using experimental data, as an alternative, have considerable advantages. However, the test setup for system identification is expensive and complex, and experimental procedures for data collection are time-consuming tasks. To obtain the dynamic stiffness transfer function, this paper proposes a linear system identification method that uses information obtained from a reliable dynamic stiffness model with a control algorithm and nonlinearities. The results of this study show that the system identification procedure is compact, and the transfer function is able to describe the dynamic stiffness characteristics of the EMA. In addition, to verify the validity of the system identification method, the simulation results of the dynamic stiffness transfer function and the dynamic stiffness model were compared with the experimental data for various external loads.

An integrated system for dynamic control of auditory perspective in a multichannel sound field

NASA Astrophysics Data System (ADS)

Corey, Jason Andrew

An integrated system providing dynamic control of sound source azimuth, distance and proximity to a room boundary within a simulated acoustic space is proposed for use in multichannel music and film sound production. The system has been investigated, implemented, and psychoacoustically tested within the ITU-R BS.775 recommended five-channel (3/2) loudspeaker layout. The work brings together physical and perceptual models of room simulation to allow dynamic placement of virtual sound sources at any location of a simulated space within the horizontal plane. The control system incorporates a number of modules including simulated room modes, "fuzzy" sources, and tracking early reflections, whose parameters are dynamically changed according to sound source location within the simulated space. The control functions of the basic elements, derived from theories of perception of a source in a real room, have been carefully tuned to provide efficient, effective, and intuitive control of a sound source's perceived location. Seven formal listening tests were conducted to evaluate the effectiveness of the algorithm design choices. The tests evaluated: (1) loudness calibration of multichannel sound images; (2) the effectiveness of distance control; (3) the resolution of distance control provided by the system; (4) the effectiveness of the proposed system when compared to a commercially available multichannel room simulation system in terms of control of source distance and proximity to a room boundary; (5) the role of tracking early reflection patterns on the perception of sound source distance; (6) the role of tracking early reflection patterns on the perception of lateral phantom images. The listening tests confirm the effectiveness of the system for control of perceived sound source distance, proximity to room boundaries, and azimuth, through fine, dynamic adjustment of parameters according to source location. All of the parameters are grouped and controlled together to create a perceptually strong impression of source location and movement within a simulated space.

Adaptive control in the presence of unmodeled dynamics. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Rohrs, C. E.

1982-01-01

Stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances were investigated. The class of adaptive algorithms considered are those commonly referred to as model reference adaptive control algorithms, self-tuning controllers, and dead beat adaptive controllers, developed for both continuous-time systems and discrete-time systems. A unified analytical approach was developed to examine the class of existing adaptive algorithms. It was discovered that all existing algorithms contain an infinite gain operator in the dynamic system that defines command reference errors and parameter errors; it is argued that such an infinite gain operator appears to be generic to all adaptive algorithms, whether they exhibit explicit or implicit parameter identification. It is concluded that none of the adaptive algorithms considered can be used with confidence in a practical control system design, because instability will set in with a high probability.

Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

PubMed

Li, Zhaoying; Zhou, Wenjie; Liu, Hao

2016-09-01

This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Servo-hydraulic actuator in controllable canonical form: Identification and experimental validation

NASA Astrophysics Data System (ADS)

Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

2018-02-01

Hydraulic actuators have been widely used to experimentally examine structural behavior at multiple scales. Real-time hybrid simulation (RTHS) is one innovative testing method that largely relies on such servo-hydraulic actuators. In RTHS, interface conditions must be enforced in real time, and controllers are often used to achieve tracking of the desired displacements. Thus, neglecting the dynamics of hydraulic transfer system may result either in system instability or sub-optimal performance. Herein, we propose a nonlinear dynamical model for a servo-hydraulic actuator (a.k.a. hydraulic transfer system) coupled with a nonlinear physical specimen. The nonlinear dynamical model is transformed into controllable canonical form for further tracking control design purposes. Through a number of experiments, the controllable canonical model is validated.

Session 6: Dynamic Modeling and Systems Analysis

NASA Technical Reports Server (NTRS)

Csank, Jeffrey; Chapman, Jeffryes; May, Ryan

2013-01-01

These presentations cover some of the ongoing work in dynamic modeling and dynamic systems analysis. The first presentation discusses dynamic systems analysis and how to integrate dynamic performance information into the systems analysis. The ability to evaluate the dynamic performance of an engine design may allow tradeoffs between the dynamic performance and operability of a design resulting in a more efficient engine design. The second presentation discusses the Toolbox for Modeling and Analysis of Thermodynamic Systems (T-MATS). T-MATS is a Simulation system with a library containing the basic building blocks that can be used to create dynamic Thermodynamic Systems. Some of the key features include Turbo machinery components, such as turbines, compressors, etc., and basic control system blocks. T-MAT is written in the Matlab-Simulink environment and is open source software. The third presentation focuses on getting additional performance from the engine by allowing the limit regulators only to be active when a limit is danger of being violated. Typical aircraft engine control architecture is based on MINMAX scheme, which is designed to keep engine operating within prescribed mechanical/operational safety limits. Using a conditionally active min-max limit regulator scheme, additional performance can be gained by disabling non-relevant limit regulators

Adaptive variable structure hierarchical fuzzy control for a class of high-order nonlinear dynamic systems.

PubMed

Mansouri, Mohammad; Teshnehlab, Mohammad; Aliyari Shoorehdeli, Mahdi

2015-05-01

In this paper, a novel adaptive hierarchical fuzzy control system based on the variable structure control is developed for a class of SISO canonical nonlinear systems in the presence of bounded disturbances. It is assumed that nonlinear functions of the systems be completely unknown. Switching surfaces are incorporated into the hierarchical fuzzy control scheme to ensure the system stability. A fuzzy soft switching system decides the operation area of the hierarchical fuzzy control and variable structure control systems. All the nonlinearly appeared parameters of conclusion parts of fuzzy blocks located in different layers of the hierarchical fuzzy control system are adjusted through adaptation laws deduced from the defined Lyapunov function. The proposed hierarchical fuzzy control system reduces the number of rules and consequently the number of tunable parameters with respect to the ordinary fuzzy control system. Global boundedness of the overall adaptive system and the desired precision are achieved using the proposed adaptive control system. In this study, an adaptive hierarchical fuzzy system is used for two objectives; it can be as a function approximator or a control system based on an intelligent-classic approach. Three theorems are proven to investigate the stability of the nonlinear dynamic systems. The important point about the proposed theorems is that they can be applied not only to hierarchical fuzzy controllers with different structures of hierarchical fuzzy controller, but also to ordinary fuzzy controllers. Therefore, the proposed algorithm is more general. To show the effectiveness of the proposed method four systems (two mechanical, one mathematical and one chaotic) are considered in simulations. Simulation results demonstrate the validity, efficiency and feasibility of the proposed approach to control of nonlinear dynamic systems. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

NASA Astrophysics Data System (ADS)

Zarafshan, P.; Moosavian, S. Ali A.

2013-10-01

Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors and perturb the object manipulation task. So, it is shown that these effects can be significantly eliminated by the proposed Hybrid Suppression Control algorithm.

Reversible formation of aminals: a new strategy to control the release of bioactive volatiles from dynamic mixtures.

PubMed

Godin, Guillaume; Levrand, Barbara; Trachsel, Alain; Lehn, Jean-Marie; Herrmann, Andreas

2010-05-14

Dynamic mixtures generated by reversible aminal formation of fragrance aldehydes with N,N-dibenzyl alkyldiamines in aqueous systems were found to be suitable delivery systems for the controlled release of bioactive volatiles.

Advanced Kalman Filter for Real-Time Responsiveness in Complex Systems

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

Welch, Gregory Francis; Zhang, Jinghe

2014-06-10

Complex engineering systems pose fundamental challenges in real-time operations and control because they are highly dynamic systems consisting of a large number of elements with severe nonlinearities and discontinuities. Today’s tools for real-time complex system operations are mostly based on steady state models, unable to capture the dynamic nature and too slow to prevent system failures. We developed advanced Kalman filtering techniques and the formulation of dynamic state estimation using Kalman filtering techniques to capture complex system dynamics in aiding real-time operations and control. In this work, we looked at complex system issues including severe nonlinearity of system equations, discontinuitiesmore » caused by system controls and network switches, sparse measurements in space and time, and real-time requirements of power grid operations. We sought to bridge the disciplinary boundaries between Computer Science and Power Systems Engineering, by introducing methods that leverage both existing and new techniques. While our methods were developed in the context of electrical power systems, they should generalize to other large-scale scientific and engineering applications.« less

Novel tunable dynamic tweezers using dark-bright soliton collision control in an optical add/drop filter.

PubMed

Teeka, Chat; Jalil, Muhammad Arif; Yupapin, Preecha P; Ali, Jalil

2010-12-01

We propose a novel system of the dynamic optical tweezers generated by a dark soliton in the fiber optic loop. A dark soliton known as an optical tweezer is amplified and tuned within the microring resonator system. The required tunable tweezers with different widths and powers can be controlled. The analysis of dark-bright soliton conversion using a dark soliton pulse propagating within a microring resonator system is analyzed. The dynamic behaviors of soliton conversion in add/drop filter is also analyzed. The control dark soliton is input into the system via the add port of the add/drop filter. The dynamic behavior of the dark-bright soliton conversion is observed. The required stable signal is obtained via a drop and throughput ports of the add/drop filter with some suitable parameters. In application, the trapped light/atom and transportation can be realized by using the proposed system.

Immunity-Based Optimal Estimation Approach for a New Real Time Group Elevator Dynamic Control Application for Energy and Time Saving

PubMed Central

Baygin, Mehmet; Karakose, Mehmet

2013-01-01

Nowadays, the increasing use of group elevator control systems owing to increasing building heights makes the development of high-performance algorithms necessary in terms of time and energy saving. Although there are many studies in the literature about this topic, they are still not effective enough because they are not able to evaluate all features of system. In this paper, a new approach of immune system-based optimal estimate is studied for dynamic control of group elevator systems. The method is mainly based on estimation of optimal way by optimizing all calls with genetic, immune system and DNA computing algorithms, and it is evaluated with a fuzzy system. The system has a dynamic feature in terms of the situation of calls and the option of the most appropriate algorithm, and it also adaptively works in terms of parameters such as the number of floors and cabins. This new approach which provides both time and energy saving was carried out in real time. The experimental results comparatively demonstrate the effects of method. With dynamic and adaptive control approach in this study carried out, a significant progress on group elevator control systems has been achieved in terms of time and energy efficiency according to traditional methods. PMID:23935433

Solar dynamic power systems for space station

NASA Technical Reports Server (NTRS)

Irvine, Thomas B.; Nall, Marsha M.; Seidel, Robert C.

1986-01-01

The Parabolic Offset Linearly Actuated Reflector (POLAR) solar dynamic module was selected as the baseline design for a solar dynamic power system aboard the space station. The POLAR concept was chosen over other candidate designs after extensive trade studies. The primary advantages of the POLAR concept are the low mass moment of inertia of the module about the transverse boom and the compactness of the stowed module which enables packaging of two complete modules in the Shuttle orbiter payload bay. The fine pointing control system required for the solar dynamic module has been studied and initial results indicate that if disturbances from the station are allowed to back drive the rotary alpha joint, pointing errors caused by transient loads on the space station can be minimized. This would allow pointing controls to operate in bandwidths near system structural frequencies. The incorporation of the fine pointing control system into the solar dynamic module is fairly straightforward for the three strut concentrator support structure. However, results of structural analyses indicate that this three strut support is not optimum. Incorporation of a vernier pointing system into the proposed six strut support structure is being studied.

Design and Analysis of Precise Pointing Systems

NASA Technical Reports Server (NTRS)

Kim, Young K.

2000-01-01

The mathematical models of Glovebox Integrated Microgravity Isolation Technology (g- LIMIT) dynamics/control system, which include six degrees of freedom (DOF) equations of motion, mathematical models of position sensors, accelerometers and actuators, and acceleration and position controller, were developed using MATLAB and TREETOPS simulations. Optimal control parameters of G-LIMIT control system were determined through sensitivity studies and its performance were evaluated with the TREETOPS model of G-LIMIT dynamics and control system. The functional operation and performance of the Tektronix DTM920 digital thermometer were studied and the inputs to the crew procedures and training of the DTM920 were documented.

Minimum fuel control of a vehicle with a continuously variable transmission. [control system simulation

NASA Technical Reports Server (NTRS)

Burghart, J. H.; Donoghue, J. F.

1980-01-01

The design and evaluation of a control system for a sedan with a heat engine and a continuously variable transmission, is considered in a effort to minimize fuel consumption and achieve satisfactory dynamic response of vehicle variables as the vehicle is driven over a standard driving cycle. Even though the vehicle system was highly nonlinear, attention was restricted to linear control algorithms which could be easily understood and implemented demonstrated by simulation. Simulation results also revealed that the vehicle could exhibit unexpected dynamic behavior which must be taken into account in any control system design.

A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing

NASA Astrophysics Data System (ADS)

Martin, Adrian

As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control system structure, flexibility, and extensibility. Toward these ends the Control ad libitum philosophy is proposed, stating that to make significant progress in the real-world application of mobile robot teams the control system must be structured such that teams can be formed in real-time from diverse components. The Control ad libitum philosophy was applied to the design of the HAA (Host, Avatar, Agent) architecture: a modular hierarchical framework built with provably correct distributed algorithms. A control system for exploration and mapping, search and deploy, and foraging was developed to evaluate the architecture in three sets of hardware-in-the-loop experiments. First, the basic functionality of the HAA architecture was studied, specifically the ability to: a) dynamically form the control system, b) dynamically form the robot team, c) dynamically form the processing network, and d) handle heterogeneous teams. Secondly, the real-time performance of the distributed algorithms was tested, and proved effective for the moderate sized systems tested. Furthermore, the distributed Just-in-time Cooperative Simultaneous Localization and Mapping (JC-SLAM) algorithm demonstrated accuracy equal to or better than traditional approaches in resource starved scenarios, while reducing exploration time significantly. The JC-SLAM strategies are also suitable for integration into many existing particle filter SLAM approaches, complementing their unique optimizations. Thirdly, the control system was subjected to concurrent software and hardware failures in a series of increasingly complex experiments. Even with unrealistically high rates of failure the control system was able to successfully complete its tasks. The HAA implementation designed following the Control ad libitum philosophy proved to be capable of dynamic team formation and extremely robust against both hardware and software failure; and, due to the modularity of the system there is significant potential for reuse of assets and future extensibility. One future goal is to make the source code publically available and establish a forum for the development and exchange of new agents.

Quantum demolition filtering and optimal control of unstable systems.

PubMed

Belavkin, V P

2012-11-28

A brief account of the quantum information dynamics and dynamical programming methods for optimal control of quantum unstable systems is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme, we exploit the separation theorem of filtering and control aspects as in the usual case of quantum stable systems with non-demolition observation. This allows us to start with the Belavkin quantum filtering equation generalized to demolition observations and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to Hamiltonian terms in the filtering equation. An unstable controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.

Survey of decentralized control methods. [for large scale dynamic systems

NASA Technical Reports Server (NTRS)

Athans, M.

1975-01-01

An overview is presented of the types of problems that are being considered by control theorists in the area of dynamic large scale systems with emphasis on decentralized control strategies. Approaches that deal directly with decentralized decision making for large scale systems are discussed. It is shown that future advances in decentralized system theory are intimately connected with advances in the stochastic control problem with nonclassical information pattern. The basic assumptions and mathematical tools associated with the latter are summarized, and recommendations concerning future research are presented.

Dynamics of aerospace vehicles

NASA Technical Reports Server (NTRS)

Schmidt, David K.

1991-01-01

The focus of this research was to address the modeling, including model reduction, of flexible aerospace vehicles, with special emphasis on models used in dynamic analysis and/or guidance and control system design. In the modeling, it is critical that the key aspects of the system being modeled be captured in the model. In this work, therefore, aspects of the vehicle dynamics critical to control design were important. In this regard, fundamental contributions were made in the areas of stability robustness analysis techniques, model reduction techniques, and literal approximations for key dynamic characteristics of flexible vehicles. All these areas are related. In the development of a model, approximations are always involved, so control systems designed using these models must be robust against uncertainties in these models.

Liquid gating elastomeric porous system with dynamically controllable gas/liquid transport.

PubMed

Sheng, Zhizhi; Wang, Honglong; Tang, Yongliang; Wang, Miao; Huang, Lizhi; Min, Lingli; Meng, Haiqiang; Chen, Songyue; Jiang, Lei; Hou, Xu

2018-02-01

The development of membrane technology is central to fields ranging from resource harvesting to medicine, but the existing designs are unable to handle the complex sorting of multiphase substances required for many systems. Especially, the dynamic multiphase transport and separation under a steady-state applied pressure have great benefits for membrane science, but have not been realized at present. Moreover, the incorporation of precisely dynamic control with avoidance of contamination of membranes remains elusive. We show a versatile strategy for creating elastomeric microporous membrane-based systems that can finely control and dynamically modulate the sorting of a wide range of gases and liquids under a steady-state applied pressure, nearly eliminate fouling, and can be easily applied over many size scales, pressures, and environments. Experiments and theoretical calculation demonstrate the stability of our system and the tunability of the critical pressure. Dynamic transport of gas and liquid can be achieved through our gating interfacial design and the controllable pores' deformation without changing the applied pressure. Therefore, we believe that this system will bring new opportunities for many applications, such as gas-involved chemical reactions, fuel cells, multiphase separation, multiphase flow, multiphase microreactors, colloidal particle synthesis, and sizing nano/microparticles.

Liquid gating elastomeric porous system with dynamically controllable gas/liquid transport

PubMed Central

Sheng, Zhizhi; Wang, Honglong; Tang, Yongliang; Wang, Miao; Huang, Lizhi; Min, Lingli; Meng, Haiqiang; Chen, Songyue; Jiang, Lei; Hou, Xu

2018-01-01

The development of membrane technology is central to fields ranging from resource harvesting to medicine, but the existing designs are unable to handle the complex sorting of multiphase substances required for many systems. Especially, the dynamic multiphase transport and separation under a steady-state applied pressure have great benefits for membrane science, but have not been realized at present. Moreover, the incorporation of precisely dynamic control with avoidance of contamination of membranes remains elusive. We show a versatile strategy for creating elastomeric microporous membrane-based systems that can finely control and dynamically modulate the sorting of a wide range of gases and liquids under a steady-state applied pressure, nearly eliminate fouling, and can be easily applied over many size scales, pressures, and environments. Experiments and theoretical calculation demonstrate the stability of our system and the tunability of the critical pressure. Dynamic transport of gas and liquid can be achieved through our gating interfacial design and the controllable pores’ deformation without changing the applied pressure. Therefore, we believe that this system will bring new opportunities for many applications, such as gas-involved chemical reactions, fuel cells, multiphase separation, multiphase flow, multiphase microreactors, colloidal particle synthesis, and sizing nano/microparticles. PMID:29487906

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.

Microgravity Isolation Control System Design Via High-Order Sliding Mode Control

NASA Technical Reports Server (NTRS)

Shkolnikov, Ilya; Shtessel, Yuri; Whorton, Mark S.; Jackson, Mark

2000-01-01

Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of second order. The primary DSM is designed for the closed-loop system in sliding mode to be a filter with given characteristics with respect to the input external disturbances.

Output feedback regulator design for jet engine control systems

NASA Technical Reports Server (NTRS)

Merrill, W. C.

1977-01-01

A multivariable control design procedure based on the output feedback regulator formulation is described and applied to turbofan engine model. Full order model dynamics, were incorporated in the example design. The effect of actuator dynamics on closed loop performance was investigaged. Also, the importance of turbine inlet temperature as an element of the dynamic feedback was studied. Step responses were given to indicate the improvement in system performance with this control. Calculation times for all experiments are given in CPU seconds for comparison purposes.

The motion and control of a complex three-body space tethered system

NASA Astrophysics Data System (ADS)

Shi, Gefei; Zhu, Zhanxia; Chen, Shiyu; Yuan, Jianping; Tang, Biwei

2017-11-01

This paper is mainly devoted to investigating the dynamics and stability control of a three body-tethered satellite system which contains a main satellite and two subsatellites connected by two straight, massless and inextensible tethers. Firstly, a detailed mathematical model is established in the central gravitational field. Then, the dynamic characteristics of the established system are investigated and analyzed. Based on the dynamic analysis, a novel sliding mode prediction model (SMPM) control strategy is proposed to suppress the motion of the built tethered system. The numerical results show that the proposed underactuated control law is highly effective in suppressing the attitude/libration motion of the underactuated three-body tethered system. Furthermore, cases of different target angles are also examined and analyzed. The simulation results reveal that even if the final equilibrium states differ from different selections of the target angles, the whole system can still be maintained in acceptable areas.

Space station dynamics, attitude control and momentum management

NASA Technical Reports Server (NTRS)

Sunkel, John W.; Singh, Ramen P.; Vengopal, Ravi

1989-01-01

The Space Station Attitude Control System software test-bed provides a rigorous environment for the design, development and functional verification of GN and C algorithms and software. The approach taken for the simulation of the vehicle dynamics and environmental models using a computationally efficient algorithm is discussed. The simulation includes capabilities for docking/berthing dynamics, prescribed motion dynamics associated with the Mobile Remote Manipulator System (MRMS) and microgravity disturbances. The vehicle dynamics module interfaces with the test-bed through the central Communicator facility which is in turn driven by the Station Control Simulator (SCS) Executive. The Communicator addresses issues such as the interface between the discrete flight software and the continuous vehicle dynamics, and multi-programming aspects such as the complex flow of control in real-time programs. Combined with the flight software and redundancy management modules, the facility provides a flexible, user-oriented simulation platform.

Comparative study between two different active flutter suppression systems

NASA Technical Reports Server (NTRS)

Nissim, E.

1978-01-01

An activated leading-edge (LE)-tailing-edge (TE) control system is applied to a drone aircraft with the objective of enabling the drone to fly subsonically at dynamic pressures which are 44% above the open-loop flutter dynamic pressure. The control synthesis approach is based on the aerodynamic energy concept and it incorporates recent developments in this area. A comparison is made between the performance of the activated LE-TE control system and the performance of a TE control system, analyzed in a previous work. The results obtained indicate that although all the control systems achieve the flutter suppression objectives, the TE control system appears to be somewhat superior to the LE-TE control system, in this specific application. This superiority is manifested through reduced values of control surface activity over a wide range of flight conditions.

Non-linear controls influence functions in an aircraft dynamics simulator

NASA Technical Reports Server (NTRS)

Guerreiro, Nelson M.; Hubbard, James E., Jr.; Motter, Mark A.

2006-01-01

In the development and testing of novel structural and controls concepts, such as morphing aircraft wings, appropriate models are needed for proper system characterization. In most instances, available system models do not provide the required additional degrees of freedom for morphing structures but may be modified to some extent to achieve a compatible system. The objective of this study is to apply wind tunnel data collected for an Unmanned Air Vehicle (UAV), that implements trailing edge morphing, to create a non-linear dynamics simulator, using well defined rigid body equations of motion, where the aircraft stability derivatives change with control deflection. An analysis of this wind tunnel data, using data extraction algorithms, was performed to determine the reference aerodynamic force and moment coefficients for the aircraft. Further, non-linear influence functions were obtained for each of the aircraft s control surfaces, including the sixteen trailing edge flap segments. These non-linear controls influence functions are applied to the aircraft dynamics to produce deflection-dependent aircraft stability derivatives in a non-linear dynamics simulator. Time domain analysis of the aircraft motion, trajectory, and state histories can be performed using these nonlinear dynamics and may be visualized using a 3-dimensional aircraft model. Linear system models can be extracted to facilitate frequency domain analysis of the system and for control law development. The results of this study are useful in similar projects where trailing edge morphing is employed and will be instrumental in the University of Maryland s continuing study of active wing load control.

A nonlinear control method based on ANFIS and multiple models for a class of SISO nonlinear systems and its application.

PubMed

Zhang, Yajun; Chai, Tianyou; Wang, Hong

2011-11-01

This paper presents a novel nonlinear control strategy for a class of uncertain single-input and single-output discrete-time nonlinear systems with unstable zero-dynamics. The proposed method combines adaptive-network-based fuzzy inference system (ANFIS) with multiple models, where a linear robust controller, an ANFIS-based nonlinear controller and a switching mechanism are integrated using multiple models technique. It has been shown that the linear controller can ensure the boundedness of the input and output signals and the nonlinear controller can improve the dynamic performance of the closed loop system. Moreover, it has also been shown that the use of the switching mechanism can simultaneously guarantee the closed loop stability and improve its performance. As a result, the controller has the following three outstanding features compared with existing control strategies. First, this method relaxes the assumption of commonly-used uniform boundedness on the unmodeled dynamics and thus enhances its applicability. Second, since ANFIS is used to estimate and compensate the effect caused by the unmodeled dynamics, the convergence rate of neural network learning has been increased. Third, a "one-to-one mapping" technique is adapted to guarantee the universal approximation property of ANFIS. The proposed controller is applied to a numerical example and a pulverizing process of an alumina sintering system, respectively, where its effectiveness has been justified.

Application of dynamical systems theory to the high angle of attack dynamics of the F-14

NASA Technical Reports Server (NTRS)

Jahnke, Craig C.; Culick, Fred E. C.

1990-01-01

Dynamical systems theory has been used to study the nonlinear dynamics of the F-14. An eight degree of freedom model that does not include the control system present in operational F-14s has been analyzed. The aerodynamic model, supplied by NASA, includes nonlinearities as functions of the angles of attack and sideslip, the rotation rate, and the elevator deflection. A continuation method has been used to calculate the steady states of the F-14 as continuous functions of the control surface deflections. Bifurcations of these steady states have been used to predict the onset of wing rock, spiral divergence, and jump phenomena which cause the aircraft to enter a spin. A simple feedback control system was designed to eliminate the wing rock and spiral divergence instabilities. The predictions were verified with numerical simulations.

L1 Adaptive Control Augmentation System with Application to the X-29 Lateral/Directional Dynamics: A Multi-Input Multi-Output Approach

NASA Technical Reports Server (NTRS)

Griffin, Brian Joseph; Burken, John J.; Xargay, Enric

2010-01-01

This paper presents an L(sub 1) adaptive control augmentation system design for multi-input multi-output nonlinear systems in the presence of unmatched uncertainties which may exhibit significant cross-coupling effects. A piecewise continuous adaptive law is adopted and extended for applicability to multi-input multi-output systems that explicitly compensates for dynamic cross-coupling. In addition, explicit use of high-fidelity actuator models are added to the L1 architecture to reduce uncertainties in the system. The L(sub 1) multi-input multi-output adaptive control architecture is applied to the X-29 lateral/directional dynamics and results are evaluated against a similar single-input single-output design approach.

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.

Stochastic modeling and control system designs of the NASA/MSFC Ground Facility for large space structures: The maximum entropy/optimal projection approach

NASA Technical Reports Server (NTRS)

Hsia, Wei-Shen

1986-01-01

In the Control Systems Division of the Systems Dynamics Laboratory of the NASA/MSFC, a Ground Facility (GF), in which the dynamics and control system concepts being considered for Large Space Structures (LSS) applications can be verified, was designed and built. One of the important aspects of the GF is to design an analytical model which will be as close to experimental data as possible so that a feasible control law can be generated. Using Hyland's Maximum Entropy/Optimal Projection Approach, a procedure was developed in which the maximum entropy principle is used for stochastic modeling and the optimal projection technique is used for a reduced-order dynamic compensator design for a high-order plant.

Measuring Engagement as Students Learn Dynamic Systems and Control with a Video Game

ERIC Educational Resources Information Center

Coller, B. D.; Shernoff, David J.; Strati, Anna

2011-01-01

The paper presents results of a multi-year quasi-experimental study of student engagement during which a video game was introduced into an undergraduate dynamic systems and control course. The video game, "EduTorcs", provided challenges in which students devised control algorithms that drive virtual cars and ride virtual bikes through a…

Application of partial differential equation modeling of the control/structural dynamics of flexible spacecraft

NASA Technical Reports Server (NTRS)

Taylor, Lawrence W., Jr.; Rajiyah, H.

1991-01-01

Partial differential equations for modeling the structural dynamics and control systems of flexible spacecraft are applied here in order to facilitate systems analysis and optimization of these spacecraft. Example applications are given, including the structural dynamics of SCOLE, the Solar Array Flight Experiment, the Mini-MAST truss, and the LACE satellite. The development of related software is briefly addressed.

An AD100 implementation of a real-time STOVL aircraft propulsion system

NASA Technical Reports Server (NTRS)

Ouzts, Peter J.; Drummond, Colin K.

1990-01-01

A real-time dynamic model of the propulsion system for a Short Take-Off and Vertical Landing (STOVL) aircraft was developed for the AD100 simulation environment. The dynamic model was adapted from a FORTRAN based simulation using the dynamic programming capabilities of the AD100 ADSIM simulation language. The dynamic model includes an aerothermal representation of a turbofan jet engine, actuator and sensor models, and a multivariable control system. The AD100 model was tested for agreement with the FORTRAN model and real-time execution performance. The propulsion system model was also linked to an airframe dynamic model to provide an overall STOVL aircraft simulation for the purposes of integrated flight and propulsion control studies. An evaluation of the AD100 system for use as an aircraft simulation environment is included.

Bounded tracking for nonminimum phase nonlinear systems with fast zero dynamics

DOT National Transportation Integrated Search

1996-12-01

A PostScript file. In this paper, tracking control laws for nonminimum phase nonlinear systems with both fast and slow, possibly unstable, zero dynamics are derived. The fast zero dynamics arise from a perturbation of a nominal system. These fast zer...

Application of Nonlinear Systems Inverses to Automatic Flight Control Design: System Concepts and Flight Evaluations

NASA Technical Reports Server (NTRS)

Meyer, G.; Cicolani, L.

1981-01-01

A practical method for the design of automatic flight control systems for aircraft with complex characteristics and operational requirements, such as the powered lift STOL and V/STOL configurations, is presented. The method is effective for a large class of dynamic systems requiring multi-axis control which have highly coupled nonlinearities, redundant controls, and complex multidimensional operational envelopes. It exploits the concept of inverse dynamic systems, and an algorithm for the construction of inverse is given. A hierarchic structure for the total control logic with inverses is presented. The method is illustrated with an application to the Augmentor Wing Jet STOL Research Aircraft equipped with a digital flight control system. Results of flight evaluation of the control concept on this aircraft are presented.

Dynamic optimization of CELSS crop photosynthetic rate by computer-assisted feedback control

NASA Astrophysics Data System (ADS)

Chun, C.; Mitchell, C. A.

1997-01-01

A procedure for dynamic optimization of net photosynthetic rate (Pn) for crop production in Controlled Ecological Life-Support Systems (CELSS) was developed using leaf lettuce as a model crop. Canopy Pn was measured in real time and fed back for environmental control. Setpoints of photosynthetic photon flux (PPF) and CO_2 concentration for each hour of the crop-growth cycle were decided by computer to reach a targeted Pn each day. Decision making was based on empirical mathematical models combined with rule sets developed from recent experimental data. Comparisons showed that dynamic control resulted in better yield per unit energy input to the growth system than did static control. With comparable productivity parameters and potential for significant energy savings, dynamic control strategies will contribute greatly to the sustainability of space-deployed CELSS.

Bio-inspired spiking neural network for nonlinear systems control.

PubMed

Pérez, Javier; Cabrera, Juan A; Castillo, Juan J; Velasco, Juan M

2018-08-01

Spiking neural networks (SNN) are the third generation of artificial neural networks. SNN are the closest approximation to biological neural networks. SNNs make use of temporal spike trains to command inputs and outputs, allowing a faster and more complex computation. As demonstrated by biological organisms, they are a potentially good approach to designing controllers for highly nonlinear dynamic systems in which the performance of controllers developed by conventional techniques is not satisfactory or difficult to implement. SNN-based controllers exploit their ability for online learning and self-adaptation to evolve when transferred from simulations to the real world. SNN's inherent binary and temporary way of information codification facilitates their hardware implementation compared to analog neurons. Biological neural networks often require a lower number of neurons compared to other controllers based on artificial neural networks. In this work, these neuronal systems are imitated to perform the control of non-linear dynamic systems. For this purpose, a control structure based on spiking neural networks has been designed. Particular attention has been paid to optimizing the structure and size of the neural network. The proposed structure is able to control dynamic systems with a reduced number of neurons and connections. A supervised learning process using evolutionary algorithms has been carried out to perform controller training. The efficiency of the proposed network has been verified in two examples of dynamic systems control. Simulations show that the proposed control based on SNN exhibits superior performance compared to other approaches based on Neural Networks and SNNs. Copyright © 2018 Elsevier Ltd. All rights reserved.

Interaction of feel system and flight control system dynamics on lateral flying qualities

NASA Technical Reports Server (NTRS)

Bailey, R. E.; Knotts, L. H.

1990-01-01

An experimental investigation of the influence of lateral feel system characteristics on fighter aircraft roll flying qualities was conducted using the variable stability USAF NT-33. Forty-two evaluation flights were flown by three engineering test pilots. The investigation utilized the power approach, visual landing task and up-and-away tasks including formation, gun tracking, and computer-generated compensatory attitude tracking tasks displayed on the Head-Up Display. Experimental variations included the feel system frequency, force-deflection gradient, control system command type (force or position input command), aircraft roll mode time constant, control system prefilter frequency, and control system time delay. The primary data were task performance records and evaluation pilot comments and ratings using the Cooper-Harper scale. The data highlight the unique and powerful effect of the feel system of flying qualities. The data show that the feel system is not 'equivalent' in flying qualities influence to analogous control system elements. A lower limit of allowable feel system frequency appears warranted to ensure good lateral flying qualities. Flying qualities criteria should most properly treat the feel system dynamic influence separately from the control system, since the input and output of this dynamic element is apparent to the pilot and thus, does not produce a 'hidden' effect.

Fuzzy Counter Propagation Neural Network Control for a Class of Nonlinear Dynamical Systems

PubMed Central

Sakhre, Vandana; Jain, Sanjeev; Sapkal, Vilas S.; Agarwal, Dev P.

2015-01-01

Fuzzy Counter Propagation Neural Network (FCPN) controller design is developed, for a class of nonlinear dynamical systems. In this process, the weight connecting between the instar and outstar, that is, input-hidden and hidden-output layer, respectively, is adjusted by using Fuzzy Competitive Learning (FCL). FCL paradigm adopts the principle of learning, which is used to calculate Best Matched Node (BMN) which is proposed. This strategy offers a robust control of nonlinear dynamical systems. FCPN is compared with the existing network like Dynamic Network (DN) and Back Propagation Network (BPN) on the basis of Mean Absolute Error (MAE), Mean Square Error (MSE), Best Fit Rate (BFR), and so forth. It envisages that the proposed FCPN gives better results than DN and BPN. The effectiveness of the proposed FCPN algorithms is demonstrated through simulations of four nonlinear dynamical systems and multiple input and single output (MISO) and a single input and single output (SISO) gas furnace Box-Jenkins time series data. PMID:26366169

Fuzzy Counter Propagation Neural Network Control for a Class of Nonlinear Dynamical Systems.

PubMed

Sakhre, Vandana; Jain, Sanjeev; Sapkal, Vilas S; Agarwal, Dev P

2015-01-01

Fuzzy Counter Propagation Neural Network (FCPN) controller design is developed, for a class of nonlinear dynamical systems. In this process, the weight connecting between the instar and outstar, that is, input-hidden and hidden-output layer, respectively, is adjusted by using Fuzzy Competitive Learning (FCL). FCL paradigm adopts the principle of learning, which is used to calculate Best Matched Node (BMN) which is proposed. This strategy offers a robust control of nonlinear dynamical systems. FCPN is compared with the existing network like Dynamic Network (DN) and Back Propagation Network (BPN) on the basis of Mean Absolute Error (MAE), Mean Square Error (MSE), Best Fit Rate (BFR), and so forth. It envisages that the proposed FCPN gives better results than DN and BPN. The effectiveness of the proposed FCPN algorithms is demonstrated through simulations of four nonlinear dynamical systems and multiple input and single output (MISO) and a single input and single output (SISO) gas furnace Box-Jenkins time series data.

Optimal wide-area monitoring and nonlinear adaptive coordinating neurocontrol of a power system with wind power integration and multiple FACTS devices.

PubMed

Qiao, Wei; Venayagamoorthy, Ganesh K; Harley, Ronald G

2008-01-01

Wide-area coordinating control is becoming an important issue and a challenging problem in the power industry. This paper proposes a novel optimal wide-area coordinating neurocontrol (WACNC), based on wide-area measurements, for a power system with power system stabilizers, a large wind farm and multiple flexible ac transmission system (FACTS) devices. An optimal wide-area monitor (OWAM), which is a radial basis function neural network (RBFNN), is designed to identify the input-output dynamics of the nonlinear power system. Its parameters are optimized through particle swarm optimization (PSO). Based on the OWAM, the WACNC is then designed by using the dual heuristic programming (DHP) method and RBFNNs, while considering the effect of signal transmission delays. The WACNC operates at a global level to coordinate the actions of local power system controllers. Each local controller communicates with the WACNC, receives remote control signals from the WACNC to enhance its dynamic performance and therefore helps improve system-wide dynamic and transient performance. The proposed control is verified by simulation studies on a multimachine power system.

Control-structure interaction study for the Space Station solar dynamic power module

NASA Technical Reports Server (NTRS)

Cheng, J.; Ianculescu, G.; Ly, J.; Kim, M.

1991-01-01

The authors investigate the feasibility of using a conventional PID (proportional plus integral plus derivative) controller design to perform the pointing and tracking functions for the Space Station Freedom solar dynamic power module. Using this simple controller design, the control/structure interaction effects were also studied without assuming frequency bandwidth separation. From the results, the feasibility of a simple solar dynamic control solution with a reduced-order model, which satisfies the basic system pointing and stability requirements, is suggested. However, the conventional control design approach is shown to be very much influenced by the order of reduction of the plant model, i.e., the number of the retained elastic modes from the full-order model. This suggests that, for complex large space structures, such as the Space Station Freedom solar dynamic, the conventional control system design methods may not be adequate.

Structural Dynamics and Control Interaction of Flexible Structures

NASA Technical Reports Server (NTRS)

Ryan, Robert S. (Editor); Scofield, Harold N. (Editor)

1987-01-01

A workshop on structural dynamics and control interaction of flexible structures was held to promote technical exchange between the structural dynamics and control disciplines, foster joint technology, and provide a forum for discussing and focusing critical issues in the separate and combined areas. Issues and areas of emphasis were identified in structure-control interaction for the next generation of flexible systems.

Active vibration control techniques for flexible space structures

NASA Technical Reports Server (NTRS)

Parlos, Alexander G.; Jayasuriya, Suhada

1990-01-01

Two proposed control system design techniques for active vibration control in flexible space structures are detailed. Control issues relevant only to flexible-body dynamics are addressed, whereas no attempt was made to integrate the flexible and rigid-body spacecraft dynamics. Both of the proposed approaches revealed encouraging results; however, further investigation of the interaction of the flexible and rigid-body dynamics is warranted.

A self-sensing magnetorheological damper with power generation

NASA Astrophysics Data System (ADS)

Chen, Chao; Liao, Wei-Hsin

2012-02-01

Magnetorheological (MR) dampers are promising for semi-active vibration control of various dynamic systems. In the current MR damper systems, a separate power supply and dynamic sensor are required. To enable the MR damper to be self-powered and self-sensing in the future, in this paper we propose and investigate a self-sensing MR damper with power generation, which integrates energy harvesting, dynamic sensing and MR damping technologies into one device. This MR damper has self-contained power generation and velocity sensing capabilities, and is applicable to various dynamic systems. It combines the advantages of energy harvesting—reusing wasted energy, MR damping—controllable damping force, and sensing—providing dynamic information for controlling system dynamics. This multifunctional integration would bring great benefits such as energy saving, size and weight reduction, lower cost, high reliability, and less maintenance for the MR damper systems. In this paper, a prototype of the self-sensing MR damper with power generation was designed, fabricated, and tested. Theoretical analyses and experimental studies on power generation were performed. A velocity-sensing method was proposed and experimentally validated. The magnetic-field interference among three functions was prevented by a combined magnetic-field isolation method. Modeling, analysis, and experimental results on damping forces are also presented.

Grounding explanations in evolving, diagnostic situations

NASA Technical Reports Server (NTRS)

Johannesen, Leila J.; Cook, Richard I.; Woods, David D.

1994-01-01

Certain fields of practice involve the management and control of complex dynamic systems. These include flight deck operations in commercial aviation, control of space systems, anesthetic management during surgery or chemical or nuclear process control. Fault diagnosis of these dynamic systems generally must occur with the monitored process on-line and in conjunction with maintaining system integrity.This research seeks to understand in more detail what it means for an intelligent system to function cooperatively, or as a 'team player' in complex, dynamic environments. The approach taken was to study human practitioners engaged in the management of a complex, dynamic process: anesthesiologists during neurosurgical operations. The investigation focused on understanding how team members cooperate in management and fault diagnosis and comparing this interaction to the situation with an Artificial Intelligence(AI) system that provides diagnoses and explanations. Of particular concern was to study the ways in which practitioners support one another in keeping aware of relevant information concerning the state of the monitored process and of the problem solving process.

Robust dynamic inversion controller design and analysis (using the X-38 vehicle as a case study)

NASA Astrophysics Data System (ADS)

Ito, Daigoro

A new way to approach robust Dynamic Inversion controller synthesis is addressed in this paper. A Linear Quadratic Gaussian outer-loop controller improves the robustness of a Dynamic Inversion inner-loop controller in the presence of uncertainties. Desired dynamics are given by the dynamic compensator, which shapes the loop. The selected dynamics are based on both performance and stability robustness requirements. These requirements are straightforwardly formulated as frequency-dependent singular value bounds during synthesis of the controller. Performance and robustness of the designed controller is tested using a worst case time domain quadratic index, which is a simple but effective way to measure robustness due to parameter variation. Using this approach, a lateral-directional controller for the X-38 vehicle is designed and its robustness to parameter variations and disturbances is analyzed. It is found that if full state measurements are available, the performance of the designed lateral-directional control system, measured by the chosen cost function, improves by approximately a factor of four. Also, it is found that the designed system is stable up to a parametric variation of 1.65 standard deviation with the set of uncertainty considered. The system robustness is determined to be highly sensitive to the dihedral derivative and the roll damping coefficients. The controller analysis is extended to the nonlinear system where both control input displacements and rates are bounded. In this case, the considered nonlinear system is stable up to 48.1° in bank angle and 1.59° in sideslip angle variations, indicating it is more sensitive to variations in sideslip angle than in bank angle. This nonlinear approach is further extended for the actuator failure mode analysis. The results suggest that the designed system maintains a high level of stability in the event of aileron failure. However, only 35% or less of the original stability range is maintained for the rudder failure case. Overall, this combination of controller synthesis and robustness criteria compares well with the mu-synthesis technique. It also is readily accessible to the practicing engineer, in terms of understanding and use.

On the nature of control algorithms for free-floating space manipulators

NASA Technical Reports Server (NTRS)

Papadopoulos, Evangelos; Dubowsky, Steven

1991-01-01

It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities. This result is based on the structural similarities between the kinematic and dynamic equations for the same manipulator but with a fixed base. Barycenters are used to formulate the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.

Adaptive Actor-Critic Design-Based Integral Sliding-Mode Control for Partially Unknown Nonlinear Systems With Input Disturbances.

PubMed

Fan, Quan-Yong; Yang, Guang-Hong

2016-01-01

This paper is concerned with the problem of integral sliding-mode control for a class of nonlinear systems with input disturbances and unknown nonlinear terms through the adaptive actor-critic (AC) control method. The main objective is to design a sliding-mode control methodology based on the adaptive dynamic programming (ADP) method, so that the closed-loop system with time-varying disturbances is stable and the nearly optimal performance of the sliding-mode dynamics can be guaranteed. In the first step, a neural network (NN)-based observer and a disturbance observer are designed to approximate the unknown nonlinear terms and estimate the input disturbances, respectively. Based on the NN approximations and disturbance estimations, the discontinuous part of the sliding-mode control is constructed to eliminate the effect of the disturbances and attain the expected equivalent sliding-mode dynamics. Then, the ADP method with AC structure is presented to learn the optimal control for the sliding-mode dynamics online. Reconstructed tuning laws are developed to guarantee the stability of the sliding-mode dynamics and the convergence of the weights of critic and actor NNs. Finally, the simulation results are presented to illustrate the effectiveness of the proposed method.

Optimal Control Strategy Design Based on Dynamic Programming for a Dual-Motor Coupling-Propulsion System

PubMed Central

Zhang, Shuo; Zhang, Chengning; Han, Guangwei; Wang, Qinghui

2014-01-01

A dual-motor coupling-propulsion electric bus (DMCPEB) is modeled, and its optimal control strategy is studied in this paper. The necessary dynamic features of energy loss for subsystems is modeled. Dynamic programming (DP) technique is applied to find the optimal control strategy including upshift threshold, downshift threshold, and power split ratio between the main motor and auxiliary motor. Improved control rules are extracted from the DP-based control solution, forming near-optimal control strategies. Simulation results demonstrate that a significant improvement in reducing energy loss due to the dual-motor coupling-propulsion system (DMCPS) running is realized without increasing the frequency of the mode switch. PMID:25540814

Optimal control strategy design based on dynamic programming for a dual-motor coupling-propulsion system.

PubMed

Zhang, Shuo; Zhang, Chengning; Han, Guangwei; Wang, Qinghui

2014-01-01

A dual-motor coupling-propulsion electric bus (DMCPEB) is modeled, and its optimal control strategy is studied in this paper. The necessary dynamic features of energy loss for subsystems is modeled. Dynamic programming (DP) technique is applied to find the optimal control strategy including upshift threshold, downshift threshold, and power split ratio between the main motor and auxiliary motor. Improved control rules are extracted from the DP-based control solution, forming near-optimal control strategies. Simulation results demonstrate that a significant improvement in reducing energy loss due to the dual-motor coupling-propulsion system (DMCPS) running is realized without increasing the frequency of the mode switch.

Active Control of Solar Array Dynamics During Spacecraft Maneuvers

NASA Technical Reports Server (NTRS)

Ross, Brant A.; Woo, Nelson; Kraft, Thomas G.; Blandino, Joseph R.

2016-01-01

Recent NASA mission plans require spacecraft to undergo potentially significant maneuvers (or dynamic loading events) with large solar arrays deployed. Therefore there is an increased need to understand and possibly control the nonlinear dynamics in the spacecraft system during such maneuvers. The development of a nonlinear controller is described. The utility of using a nonlinear controller to reduce forces and motion in a solar array wing during a loading event is demonstrated. The result is dramatic reductions in system forces and motion during a 10 second loading event. A motion curve derived from the simulation with the closed loop controller is used to obtain similar benefits with a simpler motion control approach.

High-performance object tracking and fixation with an online neural estimator.

PubMed

Kumarawadu, Sisil; Watanabe, Keigo; Lee, Tsu-Tian

2007-02-01

Vision-based target tracking and fixation to keep objects that move in three dimensions in view is important for many tasks in several fields including intelligent transportation systems and robotics. Much of the visual control literature has focused on the kinematics of visual control and ignored a number of significant dynamic control issues that limit performance. In line with this, this paper presents a neural network (NN)-based binocular tracking scheme for high-performance target tracking and fixation with minimum sensory information. The procedure allows the designer to take into account the physical (Lagrangian dynamics) properties of the vision system in the control law. The design objective is to synthesize a binocular tracking controller that explicitly takes the systems dynamics into account, yet needs no knowledge of dynamic nonlinearities and joint velocity sensory information. The combined neurocontroller-observer scheme can guarantee the uniform ultimate bounds of the tracking, observer, and NN weight estimation errors under fairly general conditions on the controller-observer gains. The controller is tested and verified via simulation tests in the presence of severe target motion changes.

Flatness-based embedded adaptive fuzzy control of turbocharged diesel engines

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Siano, Pierluigi; Arsie, Ivan

2014-10-01

In this paper nonlinear embedded control for turbocharged Diesel engines is developed with the use of Differential flatness theory and adaptive fuzzy control. It is shown that the dynamic model of the turbocharged Diesel engine is differentially flat and admits dynamic feedback linearization. It is also shown that the dynamic model can be written in the linear Brunovsky canonical form for which a state feedback controller can be easily designed. To compensate for modeling errors and external disturbances an adaptive fuzzy control scheme is implemanted making use of the transformed dynamical system of the diesel engine that is obtained through the application of differential flatness theory. Since only the system's output is measurable the complete state vector has to be reconstructed with the use of a state observer. It is shown that a suitable learning law can be defined for neuro-fuzzy approximators, which are part of the controller, so as to preserve the closed-loop system stability. With the use of Lyapunov stability analysis it is proven that the proposed observer-based adaptive fuzzy control scheme results in H∞ tracking performance.

Platform for real-time simulation of dynamic systems and hardware-in-the-loop for control algorithms.

PubMed

de Souza, Isaac D T; Silva, Sergio N; Teles, Rafael M; Fernandes, Marcelo A C

2014-10-15

The development of new embedded algorithms for automation and control of industrial equipment usually requires the use of real-time testing. However, the equipment required is often expensive, which means that such tests are often not viable. The objective of this work was therefore to develop an embedded platform for the distributed real-time simulation of dynamic systems. This platform, called the Real-Time Simulator for Dynamic Systems (RTSDS), could be applied in both industrial and academic environments. In industrial applications, the RTSDS could be used to optimize embedded control algorithms. In the academic sphere, it could be used to support research into new embedded solutions for automation and control and could also be used as a tool to assist in undergraduate and postgraduate teaching related to the development of projects concerning on-board control systems.

Platform for Real-Time Simulation of Dynamic Systems and Hardware-in-the-Loop for Control Algorithms

PubMed Central

de Souza, Isaac D. T.; Silva, Sergio N.; Teles, Rafael M.; Fernandes, Marcelo A. C.

2014-01-01

The development of new embedded algorithms for automation and control of industrial equipment usually requires the use of real-time testing. However, the equipment required is often expensive, which means that such tests are often not viable. The objective of this work was therefore to develop an embedded platform for the distributed real-time simulation of dynamic systems. This platform, called the Real-Time Simulator for Dynamic Systems (RTSDS), could be applied in both industrial and academic environments. In industrial applications, the RTSDS could be used to optimize embedded control algorithms. In the academic sphere, it could be used to support research into new embedded solutions for automation and control and could also be used as a tool to assist in undergraduate and postgraduate teaching related to the development of projects concerning on-board control systems. PMID:25320906

Adaptive Neural Output-Feedback Control for a Class of Nonlower Triangular Nonlinear Systems With Unmodeled Dynamics.

PubMed

Wang, Huanqing; Liu, Peter Xiaoping; Li, Shuai; Wang, Ding

2017-08-29

This paper presents the development of an adaptive neural controller for a class of nonlinear systems with unmodeled dynamics and immeasurable states. An observer is designed to estimate system states. The structure consistency of virtual control signals and the variable partition technique are combined to overcome the difficulties appearing in a nonlower triangular form. An adaptive neural output-feedback controller is developed based on the backstepping technique and the universal approximation property of the radial basis function (RBF) neural networks. By using the Lyapunov stability analysis, the semiglobally and uniformly ultimate boundedness of all signals within the closed-loop system is guaranteed. The simulation results show that the controlled system converges quickly, and all the signals are bounded. This paper is novel at least in the two aspects: 1) an output-feedback control strategy is developed for a class of nonlower triangular nonlinear systems with unmodeled dynamics and 2) the nonlinear disturbances and their bounds are the functions of all states, which is in a more general form than existing results.

Propulsive Reaction Control System Model

NASA Technical Reports Server (NTRS)

Brugarolas, Paul; Phan, Linh H.; Serricchio, Frederick; San Martin, Alejandro M.

2011-01-01

This software models a propulsive reaction control system (RCS) for guidance, navigation, and control simulation purposes. The model includes the drive electronics, the electromechanical valve dynamics, the combustion dynamics, and thrust. This innovation follows the Mars Science Laboratory entry reaction control system design, and has been created to meet the Mars Science Laboratory (MSL) entry, descent, and landing simulation needs. It has been built to be plug-and-play on multiple MSL testbeds [analysis, Monte Carlo, flight software development, hardware-in-the-loop, and ATLO (assembly, test and launch operations) testbeds]. This RCS model is a C language program. It contains two main functions: the RCS electronics model function that models the RCS FPGA (field-programmable-gate-array) processing and commanding of the RCS valve, and the RCS dynamic model function that models the valve and combustion dynamics. In addition, this software provides support functions to initialize the model states, set parameters, access model telemetry, and access calculated thruster forces.

Chaos control of the brushless direct current motor using adaptive dynamic surface control based on neural network with the minimum weights.

PubMed

Luo, Shaohua; Wu, Songli; Gao, Ruizhen

2015-07-01

This paper investigates chaos control for the brushless DC motor (BLDCM) system by adaptive dynamic surface approach based on neural network with the minimum weights. The BLDCM system contains parameter perturbation, chaotic behavior, and uncertainty. With the help of radial basis function (RBF) neural network to approximate the unknown nonlinear functions, the adaptive law is established to overcome uncertainty of the control gain. By introducing the RBF neural network and adaptive technology into the dynamic surface control design, a robust chaos control scheme is developed. It is proved that the proposed control approach can guarantee that all signals in the closed-loop system are globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation results are provided to show that the proposed approach works well in suppressing chaos and parameter perturbation.

Chaos control of the brushless direct current motor using adaptive dynamic surface control based on neural network with the minimum weights

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

Luo, Shaohua; Department of Mechanical Engineering, Chongqing Aerospace Polytechnic, Chongqing, 400021; Wu, Songli

2015-07-15

This paper investigates chaos control for the brushless DC motor (BLDCM) system by adaptive dynamic surface approach based on neural network with the minimum weights. The BLDCM system contains parameter perturbation, chaotic behavior, and uncertainty. With the help of radial basis function (RBF) neural network to approximate the unknown nonlinear functions, the adaptive law is established to overcome uncertainty of the control gain. By introducing the RBF neural network and adaptive technology into the dynamic surface control design, a robust chaos control scheme is developed. It is proved that the proposed control approach can guarantee that all signals in themore » closed-loop system are globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation results are provided to show that the proposed approach works well in suppressing chaos and parameter perturbation.« less

Experimental evaluation of HJB optimal controllers for the attitude dynamics of a multirotor aerial vehicle.

PubMed

Prado, Igor Afonso Acampora; Pereira, Mateus de Freitas Virgílio; de Castro, Davi Ferreira; Dos Santos, Davi Antônio; Balthazar, Jose Manoel

2018-06-01

The present paper is concerned with the design and experimental evaluation of optimal control laws for the nonlinear attitude dynamics of a multirotor aerial vehicle. Three design methods based on Hamilton-Jacobi-Bellman equation are taken into account. The first one is a linear control with guarantee of stability for nonlinear systems. The second and third are a nonlinear suboptimal control techniques. These techniques are based on an optimal control design approach that takes into account the nonlinearities present in the vehicle dynamics. The stability Proof of the closed-loop system is presented. The performance of the control system designed is evaluated via simulations and also via an experimental scheme using the Quanser 3-DOF Hover. The experiments show the effectiveness of the linear control method over the nonlinear strategy. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Distributed cooperative H∞ optimal tracking control of MIMO nonlinear multi-agent systems in strict-feedback form via adaptive dynamic programming

NASA Astrophysics Data System (ADS)

Luy, N. T.

2018-04-01

The design of distributed cooperative H∞ optimal controllers for multi-agent systems is a major challenge when the agents' models are uncertain multi-input and multi-output nonlinear systems in strict-feedback form in the presence of external disturbances. In this paper, first, the distributed cooperative H∞ optimal tracking problem is transformed into controlling the cooperative tracking error dynamics in affine form. Second, control schemes and online algorithms are proposed via adaptive dynamic programming (ADP) and the theory of zero-sum differential graphical games. The schemes use only one neural network (NN) for each agent instead of three from ADP to reduce computational complexity as well as avoid choosing initial NN weights for stabilising controllers. It is shown that despite not using knowledge of cooperative internal dynamics, the proposed algorithms not only approximate values to Nash equilibrium but also guarantee all signals, such as the NN weight approximation errors and the cooperative tracking errors in the closed-loop system, to be uniformly ultimately bounded. Finally, the effectiveness of the proposed method is shown by simulation results of an application to wheeled mobile multi-robot systems.

Influence of credit scoring on the dynamics of Markov chain

NASA Astrophysics Data System (ADS)

Galina, Timofeeva

2015-11-01

Markov processes are widely used to model the dynamics of a credit portfolio and forecast the portfolio risk and profitability. In the Markov chain model the loan portfolio is divided into several groups with different quality, which determined by presence of indebtedness and its terms. It is proposed that dynamics of portfolio shares is described by a multistage controlled system. The article outlines mathematical formalization of controls which reflect the actions of the bank's management in order to improve the loan portfolio quality. The most important control is the organization of approval procedure of loan applications. The credit scoring is studied as a control affecting to the dynamic system. Different formalizations of "good" and "bad" consumers are proposed in connection with the Markov chain model.

On Chaotic and Hyperchaotic Complex Nonlinear Dynamical Systems

NASA Astrophysics Data System (ADS)

Mahmoud, Gamal M.

Dynamical systems described by real and complex variables are currently one of the most popular areas of scientific research. These systems play an important role in several fields of physics, engineering, and computer sciences, for example, laser systems, control (or chaos suppression), secure communications, and information science. Dynamical basic properties, chaos (hyperchaos) synchronization, chaos control, and generating hyperchaotic behavior of these systems are briefly summarized. The main advantage of introducing complex variables is the reduction of phase space dimensions by a half. They are also used to describe and simulate the physics of detuned laser and thermal convection of liquid flows, where the electric field and the atomic polarization amplitudes are both complex. Clearly, if the variables of the system are complex the equations involve twice as many variables and control parameters, thus making it that much harder for a hostile agent to intercept and decipher the coded message. Chaotic and hyperchaotic complex systems are stated as examples. Finally there are many open problems in the study of chaotic and hyperchaotic complex nonlinear dynamical systems, which need further investigations. Some of these open problems are given.

Adaptive control with an expert system based supervisory level. Thesis

NASA Technical Reports Server (NTRS)

Sullivan, Gerald A.

1991-01-01

Adaptive control is presently one of the methods available which may be used to control plants with poorly modelled dynamics or time varying dynamics. Although many variations of adaptive controllers exist, a common characteristic of all adaptive control schemes, is that input/output measurements from the plant are used to adjust a control law in an on-line fashion. Ideally the adjustment mechanism of the adaptive controller is able to learn enough about the dynamics of the plant from input/output measurements to effectively control the plant. In practice, problems such as measurement noise, controller saturation, and incorrect model order, to name a few, may prevent proper adjustment of the controller and poor performance or instability result. In this work we set out to avoid the inadequacies of procedurally implemented safety nets, by introducing a two level control scheme in which an expert system based 'supervisor' at the upper level provides all the safety net functions for an adaptive controller at the lower level. The expert system is based on a shell called IPEX, (Interactive Process EXpert), that we developed specifically for the diagnosis and treatment of dynamic systems. Some of the more important functions that the IPEX system provides are: (1) temporal reasoning; (2) planning of diagnostic activities; and (3) interactive diagnosis. Also, because knowledge and control logic are separate, the incorporation of new diagnostic and treatment knowledge is relatively simple. We note that the flexibility available in the system to express diagnostic and treatment knowledge, allows much greater functionality than could ever be reasonably expected from procedural implementations of safety nets. The remainder of this chapter is divided into three sections. In section 1.1 we give a detailed review of the literature in the area of supervisory systems for adaptive controllers. In particular, we describe the evolution of safety nets from simple ad hoc techniques, up to the use of expert systems for more advanced supervision capabilities.

Intelligent control of a planning system for astronaut training.

PubMed

Ortiz, J; Chen, G

1999-07-01

This work intends to design, analyze and solve, from the systems control perspective, a complex, dynamic, and multiconstrained planning system for generating training plans for crew members of the NASA-led International Space Station. Various intelligent planning systems have been developed within the framework of artificial intelligence. These planning systems generally lack a rigorous mathematical formalism to allow a reliable and flexible methodology for their design, modeling, and performance analysis in a dynamical, time-critical, and multiconstrained environment. Formulating the planning problem in the domain of discrete-event systems under a unified framework such that it can be modeled, designed, and analyzed as a control system will provide a self-contained theory for such planning systems. This will also provide a means to certify various planning systems for operations in the dynamical and complex environments in space. The work presented here completes the design, development, and analysis of an intricate, large-scale, and representative mathematical formulation for intelligent control of a real planning system for Space Station crew training. This planning system has been tested and used at NASA-Johnson Space Center.

Analytical and flight investigation of the influence of rotor and other high-order dynamics on helicopter flight-control system bandwidth

NASA Technical Reports Server (NTRS)

Chen, R. T. N.; Hindson, W. S.

1985-01-01

The increasing use of highly augmented digital flight-control systems in modern military helicopters prompted an examination of the influence of rotor dynamics and other high-order dynamics on control-system performance. A study was conducted at NASA Ames Research Center to correlate theoretical predictions of feedback gain limits in the roll axis with experimental test data obtained from a variable-stability research helicopter. Feedback gains, the break frequency of the presampling sensor filter, and the computational frame time of the flight computer were systematically varied. The results, which showed excellent theoretical and experimental correlation, indicate that the rotor-dynamics, sensor-filter, and digital-data processing delays can severely limit the usable values of the roll-rate and roll-attitude feedback gains.

Design of robust iterative learning control schemes for systems with polytopic uncertainties and sector-bounded nonlinearities

NASA Astrophysics Data System (ADS)

Boski, Marcin; Paszke, Wojciech

2017-01-01

This paper deals with designing of iterative learning control schemes for uncertain systems with static nonlinearities. More specifically, the nonlinear part is supposed to be sector bounded and system matrices are assumed to range in the polytope of matrices. For systems with such nonlinearities and uncertainties the repetitive process setting is exploited to develop a linear matrix inequality based conditions for computing the feedback and feedforward (learning) controllers. These controllers guarantee acceptable dynamics along the trials and ensure convergence of the trial-to-trial error dynamics, respectively. Numerical examples illustrate the theoretical results and confirm effectiveness of the designed control scheme.

Symmetries in vakonomic dynamics: applications to optimal control

NASA Astrophysics Data System (ADS)

Martínez, Sonia; Cortés, Jorge; de León, Manuel

2001-06-01

Symmetries in vakonomic dynamics are discussed. Appropriate notions are introduced and their relationship with previous work on symmetries of singular Lagrangian systems is shown. Some Noether-type theorems are obtained. The results are applied to a class of general optimal control problems and to kinematic locomotion systems.

To react or not to react? Intrinsic stochasticity of human control in virtual stick balancing

PubMed Central

Zgonnikov, Arkady; Lubashevsky, Ihor; Kanemoto, Shigeru; Miyazawa, Toru; Suzuki, Takashi

2014-01-01

Understanding how humans control unstable systems is central to many research problems, with applications ranging from quiet standing to aircraft landing. Increasingly, much evidence appears in favour of event-driven control hypothesis: human operators only start actively controlling the system when the discrepancy between the current and desired system states becomes large enough. The event-driven models based on the concept of threshold can explain many features of the experimentally observed dynamics. However, much still remains unclear about the dynamics of human-controlled systems, which likely indicates that humans use more intricate control mechanisms. This paper argues that control activation in humans may be not threshold-driven, but instead intrinsically stochastic, noise-driven. Specifically, we suggest that control activation stems from stochastic interplay between the operator's need to keep the controlled system near the goal state, on the one hand, and the tendency to postpone interrupting the system dynamics, on the other hand. We propose a model capturing this interplay and show that it matches the experimental data on human balancing of virtual overdamped stick. Our results illuminate that the noise-driven activation mechanism plays a crucial role at least in the considered task, and, hypothetically, in a broad range of human-controlled processes. PMID:25056217

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Lashmet, P. K.; Moyer, W. R.; Sandor, G. N.; Shen, C. N.; Smith, E. J.; Yerazunis, S. W.

1973-01-01

The following tasks related to the design, construction, and evaluation of a mobile planetary vehicle for unmanned exploration of Mars are discussed: (1) design and construction of a 0.5 scale dynamic vehicle; (2) mathematical modeling of vehicle dynamics; (3) experimental 0.4 scale vehicle dynamics measurements and interpretation; (4) vehicle electro-mechanical control systems; (5) remote control systems; (6) collapsibility and deployment concepts and hardware; (7) design, construction and evaluation of a wheel with increased lateral stiffness, (8) system design optimization; (9) design of an on-board computer; (10) design and construction of a laser range finder; (11) measurement of reflectivity of terrain surfaces; (12) obstacle perception by edge detection; (13) terrain modeling based on gradients; (14) laser scan systems; (15) path selection system simulation and evaluation; (16) gas chromatograph system concepts; (17) experimental chromatograph separation measurements and chromatograph model improvement and evaluation.

Persistence border collisions in a vibrating system excited by an unbalanced motor with a relay control

NASA Astrophysics Data System (ADS)

Zhusubaliyev, Zhanybai T.; Avrutin, Viktor; Rubanov, Vasily G.; Bushuev, Dmitry A.; Titov, Dmitry V.; Yanochkina, Olga O.

2018-05-01

The paper describes a new scenario for the transition to complex dynamics in a vibrating system with an unbalanced rotor and a relay feedback control. We show that the transition from a regular dynamics without switching events in the relay element to an irregular dynamics which takes place completely in the hysteresis region occurs via a cascade of persistence border collisions.

Dynamic learning from adaptive neural network control of a class of nonaffine nonlinear systems.

PubMed

Dai, Shi-Lu; Wang, Cong; Wang, Min

2014-01-01

This paper studies the problem of learning from adaptive neural network (NN) control of a class of nonaffine nonlinear systems in uncertain dynamic environments. In the control design process, a stable adaptive NN tracking control design technique is proposed for the nonaffine nonlinear systems with a mild assumption by combining a filtered tracking error with the implicit function theorem, input-to-state stability, and the small-gain theorem. The proposed stable control design technique not only overcomes the difficulty in controlling nonaffine nonlinear systems but also relaxes constraint conditions of the considered systems. In the learning process, the partial persistent excitation (PE) condition of radial basis function NNs is satisfied during tracking control to a recurrent reference trajectory. Under the PE condition and an appropriate state transformation, the proposed adaptive NN control is shown to be capable of acquiring knowledge on the implicit desired control input dynamics in the stable control process and of storing the learned knowledge in memory. Subsequently, an NN learning control design technique that effectively exploits the learned knowledge without re-adapting to the controller parameters is proposed to achieve closed-loop stability and improved control performance. Simulation studies are performed to demonstrate the effectiveness of the proposed design techniques.

A statistical learning strategy for closed-loop control of fluid flows

NASA Astrophysics Data System (ADS)

Guéniat, Florimond; Mathelin, Lionel; Hussaini, M. Yousuff

2016-12-01

This work discusses a closed-loop control strategy for complex systems utilizing scarce and streaming data. A discrete embedding space is first built using hash functions applied to the sensor measurements from which a Markov process model is derived, approximating the complex system's dynamics. A control strategy is then learned using reinforcement learning once rewards relevant with respect to the control objective are identified. This method is designed for experimental configurations, requiring no computations nor prior knowledge of the system, and enjoys intrinsic robustness. It is illustrated on two systems: the control of the transitions of a Lorenz'63 dynamical system, and the control of the drag of a cylinder flow. The method is shown to perform well.

Optimal control theory investigation of proprotor/wing response to vertical gust

NASA Technical Reports Server (NTRS)

Frick, J. K. D.; Johnson, W.

1974-01-01

Optimal control theory is used to design linear state variable feedback to improve the dynamic characteristics of a rotor and cantilever wing representing the tilting proprotor aircraft in cruise flight. The response to a vertical gust and system damping are used as criteria for the open and closed loop performance. The improvement in the dynamic characteristics achievable is examined for a gimballed rotor and for a hingeless rotor design. Several features of the design process are examined, including: (1) using only the wing or only the rotor dynamics in the control system design; (2) the use of a wing flap as well as the rotor controls for inputs; (3) and the performance of the system designed for one velocity at other forward speeds.

A new rate-dependent model for high-frequency tracking performance enhancement of piezoactuator system

NASA Astrophysics Data System (ADS)

Tian, Lizhi; Xiong, Zhenhua; Wu, Jianhua; Ding, Han

2017-05-01

Feedforward-feedback control is widely used in motion control of piezoactuator systems. Due to the phase lag caused by incomplete dynamics compensation, the performance of the composite controller is greatly limited at high frequency. This paper proposes a new rate-dependent model to improve the high-frequency tracking performance by reducing dynamics compensation error. The rate-dependent model is designed as a function of the input and input variation rate to describe the input-output relationship of the residual system dynamics which mainly performs as phase lag in a wide frequency band. Then the direct inversion of the proposed rate-dependent model is used to compensate the residual system dynamics. Using the proposed rate-dependent model as feedforward term, the open loop performance can be improved significantly at medium-high frequency. Then, combining the with feedback controller, the composite controller can provide enhanced close loop performance from low frequency to high frequency. At the frequency of 1 Hz, the proposed controller presents the same performance as previous methods. However, at the frequency of 900 Hz, the tracking error is reduced to be 30.7% of the decoupled approach.

Non-linear dynamic compensation system

NASA Technical Reports Server (NTRS)

Lin, Yu-Hwan (Inventor); Lurie, Boris J. (Inventor)

1992-01-01

A non-linear dynamic compensation subsystem is added in the feedback loop of a high precision optical mirror positioning control system to smoothly alter the control system response bandwidth from a relatively wide response bandwidth optimized for speed of control system response to a bandwidth sufficiently narrow to reduce position errors resulting from the quantization noise inherent in the inductosyn used to measure mirror position. The non-linear dynamic compensation system includes a limiter for limiting the error signal within preselected limits, a compensator for modifying the limiter output to achieve the reduced bandwidth response, and an adder for combining the modified error signal with the difference between the limited and unlimited error signals. The adder output is applied to control system motor so that the system response is optimized for accuracy when the error signal is within the preselected limits, optimized for speed of response when the error signal is substantially beyond the preselected limits and smoothly varied therebetween as the error signal approaches the preselected limits.

Model-based control strategies for systems with constraints of the program type

NASA Astrophysics Data System (ADS)

Jarzębowska, Elżbieta

2006-08-01

The paper presents a model-based tracking control strategy for constrained mechanical systems. Constraints we consider can be material and non-material ones referred to as program constraints. The program constraint equations represent tasks put upon system motions and they can be differential equations of orders higher than one or two, and be non-integrable. The tracking control strategy relies upon two dynamic models: a reference model, which is a dynamic model of a system with arbitrary order differential constraints and a dynamic control model. The reference model serves as a motion planner, which generates inputs to the dynamic control model. It is based upon a generalized program motion equations (GPME) method. The method enables to combine material and program constraints and merge them both into the motion equations. Lagrange's equations with multipliers are the peculiar case of the GPME, since they can be applied to systems with constraints of first orders. Our tracking strategy referred to as a model reference program motion tracking control strategy enables tracking of any program motion predefined by the program constraints. It extends the "trajectory tracking" to the "program motion tracking". We also demonstrate that our tracking strategy can be extended to a hybrid program motion/force tracking.

Twelfth Annual Conference on Manual Control

NASA Technical Reports Server (NTRS)

Wempe, T. E.

1976-01-01

Main topics discussed cover multi-task decision making, attention allocation and workload measurement, displays and controls, nonvisual displays, tracking and other psychomotor tasks, automobile driving, handling qualities and pilot ratings, remote manipulation, system identification, control models, and motion and visual cues. Sixty-five papers are included with presentations on results of analytical studies to develop and evaluate human operator models for a range of control task, vehicle dynamics and display situations; results of tests of physiological control systems and applications to medical problems; and on results of simulator and flight tests to determine display, control and dynamics effects on operator performance and workload for aircraft, automobile, and remote control systems.

Use of Dynamic Distortion to Predict and Alleviate Loss of Control

NASA Technical Reports Server (NTRS)

Klyde, David; Liang, Chi-Ying; Alvarez, Daniel

2011-01-01

This research has developed and evaluated the specific concepts, termed Smart-Cue and Smart-Gain, to alleviate aircraft loss of control that results from unfavorable pilot/vehicle system interactions, including pilot-induced oscillations (PIOs). Unfavorable pilot/ vehicle-system interactions have long been an aviation safety problem. While the effective aircraft dynamic properties involved in these events have been extensively studied and understood, similar scrutiny has not been paid to the many aspects of the primary manual control system that converts the pilot control inputs to motions of the control surfaces. The purpose of the Smart-Cue and Smart-Gain developments is to redress this neglect, and to develop and validate remedial manual control systems.

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.

Global robust output regulation control for cascaded nonlinear systems using the internal model principle

NASA Astrophysics Data System (ADS)

Yu, Jiang-Bo; Zhao, Yan; Wu, Yu-Qiang

2014-04-01

This article considers the global robust output regulation problem via output feedback for a class of cascaded nonlinear systems with input-to-state stable inverse dynamics. The system uncertainties depend not only on the measured output but also all the unmeasurable states. By introducing an internal model, the output regulation problem is converted into a stabilisation problem for an appropriately augmented system. The designed dynamic controller could achieve the global asymptotic tracking control for a class of time-varying reference signals for the system output while keeping all other closed-loop signals bounded. It is of interest to note that the developed control approach can be applied to the speed tracking control of the fan speed control system. The simulation results demonstrate its effectiveness.

On neural networks in identification and control of dynamic systems

NASA Technical Reports Server (NTRS)

Phan, Minh; Juang, Jer-Nan; Hyland, David C.

1993-01-01

This paper presents a discussion of the applicability of neural networks in the identification and control of dynamic systems. Emphasis is placed on the understanding of how the neural networks handle linear systems and how the new approach is related to conventional system identification and control methods. Extensions of the approach to nonlinear systems are then made. The paper explains the fundamental concepts of neural networks in their simplest terms. Among the topics discussed are feed forward and recurrent networks in relation to the standard state-space and observer models, linear and nonlinear auto-regressive models, linear, predictors, one-step ahead control, and model reference adaptive control for linear and nonlinear systems. Numerical examples are presented to illustrate the application of these important concepts.

Decentralized stochastic control

NASA Technical Reports Server (NTRS)

Speyer, J. L.

1980-01-01

Decentralized stochastic control is characterized by being decentralized in that the information to one controller is not the same as information to another controller. The system including the information has a stochastic or uncertain component. This complicates the development of decision rules which one determines under the assumption that the system is deterministic. The system is dynamic which means the present decisions affect future system responses and the information in the system. This circumstance presents a complex problem where tools like dynamic programming are no longer applicable. These difficulties are discussed from an intuitive viewpoint. Particular assumptions are introduced which allow a limited theory which produces mechanizable affine decision rules.

Applied Nonlinear Dynamics and Stochastic Systems Near The Millenium. Proceedings

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

Kadtke, J.B.; Bulsara, A.

These proceedings represent papers presented at the Applied Nonlinear Dynamics and Stochastic Systems conference held in San Diego, California in July 1997. The conference emphasized the applications of nonlinear dynamical systems theory in fields as diverse as neuroscience and biomedical engineering, fluid dynamics, chaos control, nonlinear signal/image processing, stochastic resonance, devices and nonlinear dynamics in socio{minus}economic systems. There were 56 papers presented at the conference and 5 have been abstracted for the Energy Science and Technology database.(AIP)

Modelling and Simulation of the Dynamics of the Antigen-Specific T Cell Response Using Variable Structure Control Theory.

PubMed

Anelone, Anet J N; Spurgeon, Sarah K

2016-01-01

Experimental and mathematical studies in immunology have revealed that the dynamics of the programmed T cell response to vigorous infection can be conveniently modelled using a sigmoidal or a discontinuous immune response function. This paper hypothesizes strong synergies between this existing work and the dynamical behaviour of engineering systems with a variable structure control (VSC) law. These findings motivate the interpretation of the immune system as a variable structure control system. It is shown that dynamical properties as well as conditions to analytically assess the transition from health to disease can be developed for the specific T cell response from the theory of variable structure control. In particular, it is shown that the robustness properties of the specific T cell response as observed in experiments can be explained analytically using a VSC perspective. Further, the predictive capacity of the VSC framework to determine the T cell help required to overcome chronic Lymphocytic Choriomeningitis Virus (LCMV) infection is demonstrated. The findings demonstrate that studying the immune system using variable structure control theory provides a new framework for evaluating immunological dynamics and experimental observations. A modelling and simulation tool results with predictive capacity to determine how to modify the immune response to achieve healthy outcomes which may have application in drug development and vaccine design.

Nonlinear system guidance in the presence of transmission zero dynamics

NASA Technical Reports Server (NTRS)

Meyer, G.; Hunt, L. R.; Su, R.

1995-01-01

An iterative procedure is proposed for computing the commanded state trajectories and controls that guide a possibly multiaxis, time-varying, nonlinear system with transmission zero dynamics through a given arbitrary sequence of control points. The procedure is initialized by the system inverse with the transmission zero effects nulled out. Then the 'steady state' solution of the perturbation model with the transmission zero dynamics intact is computed and used to correct the initial zero-free solution. Both time domain and frequency domain methods are presented for computing the steady state solutions of the possibly nonminimum phase transmission zero dynamics. The procedure is illustrated by means of linear and nonlinear examples.

Robust approximation-free prescribed performance control for nonlinear systems and its application

NASA Astrophysics Data System (ADS)

Sun, Ruisheng; Na, Jing; Zhu, Bin

2018-02-01

This paper presents a robust prescribed performance control approach and its application to nonlinear tail-controlled missile systems with unknown dynamics and uncertainties. The idea of prescribed performance function (PPF) is incorporated into the control design, such that both the steady-state and transient control performance can be strictly guaranteed. Unlike conventional PPF-based control methods, we further tailor a recently proposed systematic control design procedure (i.e. approximation-free control) using the transformed tracking error dynamics, which provides a proportional-like control action. Hence, the function approximators (e.g. neural networks, fuzzy systems) that are widely used to address the unknown nonlinearities in the nonlinear control designs are not needed. The proposed control design leads to a robust yet simplified function approximation-free control for nonlinear systems. The closed-loop system stability and the control error convergence are all rigorously proved. Finally, comparative simulations are conducted based on nonlinear missile systems to validate the improved response and the robustness of the proposed control method.

An adaptive control system for a shell-and-tube heat exchanger

NASA Astrophysics Data System (ADS)

Skorospeshkin, M. V.; Sukhodoev, M. S.; Skorospeshkin, V. N.; Rymashevskiy, P. O.

2017-01-01

This article suggests an adaptive control system for a hydrocarbon perspiration temperature control. This control system consists of a PI-controller and a pseudolinear compensating device that modifies control system dynamic properties. As a result, the behaviour research of the developed temperature control system has been undertaken. This article shows high effectiveness of the represented adaptive control system during changing control object parameters.

Control of forward swept wing configurations dominated by flight-dynamic/aeroelastic interactions

NASA Technical Reports Server (NTRS)

Rimer, M.; Chipman, R.; Muniz, B.

1984-01-01

An active control system concept for an aeroelastic wind-tunnel model of a statically unstable FSW configuration with wing-mounted stores is developed to provide acceptable longitudinal flying qualities while maintaining adequate flutter speed margin. On FSW configurations, the inherent aeroelastic wing divergence tendency causes strong flight-dynamic/aeroelastic interactions that in certain cases can produce a dynamic instability known as body-freedom flutter (BFF). The carriage of wing-mounted stores is shown to severely aggravate this problem. The control system developed combines a canard-based SAS with an Active Divergence/Flutter Suppression (ADFS) system which relies on wing-mounted sensors and a trailing-edge device (flaperon). Synergism between these two systems is exploited to obtain the flying qualities and flutter speed objectives.

A systems theoretic approach to analysis and control of mammalian circadian dynamics

PubMed Central

Abel, John H.; Doyle, Francis J.

2016-01-01

The mammalian circadian clock is a complex multi-scale, multivariable biological control system. In the past two decades, methods from systems engineering have led to numerous insights into the architecture and functionality of this system. In this review, we examine the mammalian circadian system through a process systems lens. We present a mathematical framework for examining the cellular circadian oscillator, and show recent extensions for understanding population-scale dynamics. We provide an overview of the routes by which the circadian system can be systemically manipulated, and present in silico proof of concept results for phase resetting of the clock via model predictive control. PMID:28496287

Robust/optimal temperature profile control of a high-speed aerospace vehicle using neural networks.

PubMed

Yadav, Vivek; Padhi, Radhakant; Balakrishnan, S N

2007-07-01

An approximate dynamic programming (ADP)-based suboptimal neurocontroller to obtain desired temperature for a high-speed aerospace vehicle is synthesized in this paper. A 1-D distributed parameter model of a fin is developed from basic thermal physics principles. "Snapshot" solutions of the dynamics are generated with a simple dynamic inversion-based feedback controller. Empirical basis functions are designed using the "proper orthogonal decomposition" (POD) technique and the snapshot solutions. A low-order nonlinear lumped parameter system to characterize the infinite dimensional system is obtained by carrying out a Galerkin projection. An ADP-based neurocontroller with a dual heuristic programming (DHP) formulation is obtained with a single-network-adaptive-critic (SNAC) controller for this approximate nonlinear model. Actual control in the original domain is calculated with the same POD basis functions through a reverse mapping. Further contribution of this paper includes development of an online robust neurocontroller to account for unmodeled dynamics and parametric uncertainties inherent in such a complex dynamic system. A neural network (NN) weight update rule that guarantees boundedness of the weights and relaxes the need for persistence of excitation (PE) condition is presented. Simulation studies show that in a fairly extensive but compact domain, any desired temperature profile can be achieved starting from any initial temperature profile. Therefore, the ADP and NN-based controllers appear to have the potential to become controller synthesis tools for nonlinear distributed parameter systems.

Transfer matrix method for dynamics modeling and independent modal space vibration control design of linear hybrid multibody system

NASA Astrophysics Data System (ADS)

Rong, Bao; Rui, Xiaoting; Lu, Kun; Tao, Ling; Wang, Guoping; Ni, Xiaojun

2018-05-01

In this paper, an efficient method of dynamics modeling and vibration control design of a linear hybrid multibody system (MS) is studied based on the transfer matrix method. The natural vibration characteristics of a linear hybrid MS are solved by using low-order transfer equations. Then, by constructing the brand-new body dynamics equation, augmented operator and augmented eigenvector, the orthogonality of augmented eigenvector of a linear hybrid MS is satisfied, and its state space model expressed in each independent model space is obtained easily. According to this dynamics model, a robust independent modal space-fuzzy controller is designed for vibration control of a general MS, and the genetic optimization of some critical control parameters of fuzzy tuners is also presented. Two illustrative examples are performed, which results show that this method is computationally efficient and with perfect control performance.

Model predictive control of an air suspension system with damping multi-mode switching damper based on hybrid model

NASA Astrophysics Data System (ADS)

Sun, Xiaoqiang; Yuan, Chaochun; Cai, Yingfeng; Wang, Shaohua; Chen, Long

2017-09-01

This paper presents the hybrid modeling and the model predictive control of an air suspension system with damping multi-mode switching damper. Unlike traditional damper with continuously adjustable damping, in this study, a new damper with four discrete damping modes is applied to vehicle semi-active air suspension. The new damper can achieve different damping modes by just controlling the on-off statuses of two solenoid valves, which makes its damping adjustment more efficient and more reliable. However, since the damping mode switching induces different modes of operation, the air suspension system with the new damper poses challenging hybrid control problem. To model both the continuous/discrete dynamics and the switching between different damping modes, the framework of mixed logical dynamical (MLD) systems is used to establish the system hybrid model. Based on the resulting hybrid dynamical model, the system control problem is recast as a model predictive control (MPC) problem, which allows us to optimize the switching sequences of the damping modes by taking into account the suspension performance requirements. Numerical simulations results demonstrate the efficacy of the proposed control method finally.

Adaptive Robust Output Feedback Control for a Marine Dynamic Positioning System Based on a High-Gain Observer.

PubMed

Du, Jialu; Hu, Xin; Liu, Hongbo; Chen, C L Philip

2015-11-01

This paper develops an adaptive robust output feedback control scheme for dynamically positioned ships with unavailable velocities and unknown dynamic parameters in an unknown time-variant disturbance environment. The controller is designed by incorporating the high-gain observer and radial basis function (RBF) neural networks in vectorial backstepping method. The high-gain observer provides the estimations of the ship position and heading as well as velocities. The RBF neural networks are employed to compensate for the uncertainties of ship dynamics. The adaptive laws incorporating a leakage term are designed to estimate the weights of RBF neural networks and the bounds of unknown time-variant environmental disturbances. In contrast to the existing results of dynamic positioning (DP) controllers, the proposed control scheme relies only on the ship position and heading measurements and does not require a priori knowledge of the ship dynamics and external disturbances. By means of Lyapunov functions, it is theoretically proved that our output feedback controller can control a ship's position and heading to the arbitrarily small neighborhood of the desired target values while guaranteeing that all signals in the closed-loop DP control system are uniformly ultimately bounded. Finally, simulations involving two ships are carried out, and simulation results demonstrate the effectiveness of the proposed control scheme.

Solar array flight dynamic experiment

NASA Technical Reports Server (NTRS)

Schock, R. W.

1986-01-01

The purpose of the Solar Array Flight Dynamic Experiment (SAFDE) is to demonstrate the feasibility of on-orbit measurement and ground processing of large space structures dynamic characteristics. Test definition or verification provides the dynamic characteristic accuracy required for control systems use. An illumination/measurement system was developed to fly on space shuttle flight STS-31D. The system was designed to dynamically evaluate a large solar array called the Solar Array Flight Experiment (SAFE) that had been scheduled for this flight. The SAFDE system consisted of a set of laser diode illuminators, retroreflective targets, an intelligent star tracker receiver and the associated equipment to power, condition, and record the results. In six tests on STS-41D, data was successfully acquired from 18 retroreflector targets and ground processed, post flight, to define the solar array's dynamic characteristic. The flight experiment proved the viability of on-orbit test definition of large space structures dynamic characteristics. Future large space structures controllability should be greatly enhanced by this capability.

Solar array flight dynamic experiment

NASA Technical Reports Server (NTRS)

Schock, Richard W.

1986-01-01

The purpose of the Solar Array Flight Dynamic Experiment (SAFDE) is to demonstrate the feasibility of on-orbit measurement and ground processing of large space structures dynamic characteristics. Test definition or verification provides the dynamic characteristic accuracy required for control systems use. An illumination/measurement system was developed to fly on Space Shuttle flight STS-31D. The system was designed to dynamically evaluate a large solar array called the Solar Array Flight Experiment (SAFE) that had been scheduled for this flight. The SAFDE system consisted of a set of laser diode illuminators, retroreflective targets, an intelligent star tracker receiver and the associated equipment to power, condition, and record the results. In six tests on STS-41D, data was successfully acquired from 18 retroreflector targets and ground processed, post flight, to define the solar array's dynamic characteristic. The flight experiment proved the viability of on-orbit test definition of large space structures dynamic characteristics. Future large space structures controllability should be greatly enhanced by this capability.

Solar array flight dynamic experiment

NASA Technical Reports Server (NTRS)

Schock, Richard W.

1987-01-01

The purpose of the Solar Array Flight Dynamic Experiment (SAFDE) is to demonstrate the feasibility of on-orbit measurement and ground processing of large space structures' dynamic characteristics. Test definition or verification provides the dynamic characteristic accuracy required for control systems use. An illumination/measurement system was developed to fly on space shuttle flight STS-41D. The system was designed to dynamically evaluate a large solar array called the Solar Array Flight Experiment (SAFE) that had been scheduled for this flight. The SAFDE system consisted of a set of laser diode illuminators, retroreflective targets, an intelligent star tracker receiver and the associated equipment to power, condition, and record the results. In six tests on STS-41D, data was successfully acquired from 18 retroreflector targets and ground processed, post flight, to define the solar array's dynamic characteristic. The flight experiment proved the viability of on-orbit test definition of large space structures dynamic characteristics. Future large space structures controllability should be greatly enhanced by this capability.

Computational Fluid Dynamics Uncertainty Analysis for Payload Fairing Spacecraft Environmental Control Systems

NASA Technical Reports Server (NTRS)

Groves, Curtis; Ilie, Marcel; Schallhorn, Paul

2014-01-01

Spacecraft components may be damaged due to airflow produced by Environmental Control Systems (ECS). There are uncertainties and errors associated with using Computational Fluid Dynamics (CFD) to predict the flow field around a spacecraft from the ECS System. This paper describes an approach to estimate the uncertainty in using CFD to predict the airflow speeds around an encapsulated spacecraft.

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.

Workshop on Closed System Ecology

NASA Technical Reports Server (NTRS)

1982-01-01

Self maintaining laboratory scale ecological systems completely isolated from exchanges of matter with external systems were demonstrated. These research tools are discussed in terms of their anticipated value in understanding (1) global ecological material and energy balances, (2) the dynamics of stability and instability in ecosystems, (3) the effects of man-made substances and structures on ecosystems, and (4) the precise requirements for dynamic control of controlled ecology life support systems (CELSS).

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.

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.

Evaluation of Ares-I Control System Robustness to Uncertain Aerodynamics and Flex Dynamics

NASA Technical Reports Server (NTRS)

Jang, Jiann-Woei; VanTassel, Chris; Bedrossian, Nazareth; Hall, Charles; Spanos, Pol

2008-01-01

This paper discusses the application of robust control theory to evaluate robustness of the Ares-I control systems. Three techniques for estimating upper and lower bounds of uncertain parameters which yield stable closed-loop response are used here: (1) Monte Carlo analysis, (2) mu analysis, and (3) characteristic frequency response analysis. All three methods are used to evaluate stability envelopes of the Ares-I control systems with uncertain aerodynamics and flex dynamics. The results show that characteristic frequency response analysis is the most effective of these methods for assessing robustness.

Koopman Invariant Subspaces and Finite Linear Representations of Nonlinear Dynamical Systems for Control.

PubMed

Brunton, Steven L; Brunton, Bingni W; Proctor, Joshua L; Kutz, J Nathan

2016-01-01

In this wIn this work, we explore finite-dimensional linear representations of nonlinear dynamical systems by restricting the Koopman operator to an invariant subspace spanned by specially chosen observable functions. The Koopman operator is an infinite-dimensional linear operator that evolves functions of the state of a dynamical system. Dominant terms in the Koopman expansion are typically computed using dynamic mode decomposition (DMD). DMD uses linear measurements of the state variables, and it has recently been shown that this may be too restrictive for nonlinear systems. Choosing the right nonlinear observable functions to form an invariant subspace where it is possible to obtain linear reduced-order models, especially those that are useful for control, is an open challenge. Here, we investigate the choice of observable functions for Koopman analysis that enable the use of optimal linear control techniques on nonlinear problems. First, to include a cost on the state of the system, as in linear quadratic regulator (LQR) control, it is helpful to include these states in the observable subspace, as in DMD. However, we find that this is only possible when there is a single isolated fixed point, as systems with multiple fixed points or more complicated attractors are not globally topologically conjugate to a finite-dimensional linear system, and cannot be represented by a finite-dimensional linear Koopman subspace that includes the state. We then present a data-driven strategy to identify relevant observable functions for Koopman analysis by leveraging a new algorithm to determine relevant terms in a dynamical system by ℓ1-regularized regression of the data in a nonlinear function space; we also show how this algorithm is related to DMD. Finally, we demonstrate the usefulness of nonlinear observable subspaces in the design of Koopman operator optimal control laws for fully nonlinear systems using techniques from linear optimal control.ork, we explore finite-dimensional linear representations of nonlinear dynamical systems by restricting the Koopman operator to an invariant subspace spanned by specially chosen observable functions. The Koopman operator is an infinite-dimensional linear operator that evolves functions of the state of a dynamical system. Dominant terms in the Koopman expansion are typically computed using dynamic mode decomposition (DMD). DMD uses linear measurements of the state variables, and it has recently been shown that this may be too restrictive for nonlinear systems. Choosing the right nonlinear observable functions to form an invariant subspace where it is possible to obtain linear reduced-order models, especially those that are useful for control, is an open challenge. Here, we investigate the choice of observable functions for Koopman analysis that enable the use of optimal linear control techniques on nonlinear problems. First, to include a cost on the state of the system, as in linear quadratic regulator (LQR) control, it is helpful to include these states in the observable subspace, as in DMD. However, we find that this is only possible when there is a single isolated fixed point, as systems with multiple fixed points or more complicated attractors are not globally topologically conjugate to a finite-dimensional linear system, and cannot be represented by a finite-dimensional linear Koopman subspace that includes the state. We then present a data-driven strategy to identify relevant observable functions for Koopman analysis by leveraging a new algorithm to determine relevant terms in a dynamical system by ℓ1-regularized regression of the data in a nonlinear function space; we also show how this algorithm is related to DMD. Finally, we demonstrate the usefulness of nonlinear observable subspaces in the design of Koopman operator optimal control laws for fully nonlinear systems using techniques from linear optimal control.

Research on H2 speed governor for diesel engine of marine power station

NASA Astrophysics Data System (ADS)

Huang, Man-Lei

2007-09-01

The frequency stability of a marine power system is determined by the dynamic characteristic of the diesel engine speed regulation system in a marine power station. In order to reduce the effect of load disturbances and improve the dynamic precision of a diesel engine speed governor, a controller was designed for a diesel engine speed regulation system using H2 control theory. This transforms the specifications of the system into a standard H2 control problem. Firstly, the mathematical model of a diesel engine speed regulation system using an H2 speed governor is presented. To counter external disturbances and model uncertainty, the design of an H2 speed governor rests on the problem of mixed sensitivity. Computer simulation verified that the H2 speed governor improves the dynamic precision of a system and the ability to adapt to load disturbances, thus enhancing the frequency stability of marine power systems.

Crew exploration vehicle (CEV) attitude control using a neural-immunology/memory network

NASA Astrophysics Data System (ADS)

Weng, Liguo; Xia, Min; Wang, Wei; Liu, Qingshan

2015-01-01

This paper addresses the problem of the crew exploration vehicle (CEV) attitude control. CEVs are NASA's next-generation human spaceflight vehicles, and they use reaction control system (RCS) jet engines for attitude adjustment, which calls for control algorithms for firing the small propulsion engines mounted on vehicles. In this work, the resultant CEV dynamics combines both actuation and attitude dynamics. Therefore, it is highly nonlinear and even coupled with significant uncertainties. To cope with this situation, a neural-immunology/memory network is proposed. It is inspired by the human memory and immune systems. The control network does not rely on precise system dynamics information. Furthermore, the overall control scheme has a simple structure and demands much less computation as compared with most existing methods, making it attractive for real-time implementation. The effectiveness of this approach is also verified via simulation.

Distributed neural network control for adaptive synchronization of uncertain dynamical multiagent systems.

PubMed

Peng, Zhouhua; Wang, Dan; Zhang, Hongwei; Sun, Gang

2014-08-01

This paper addresses the leader-follower synchronization problem of uncertain dynamical multiagent systems with nonlinear dynamics. Distributed adaptive synchronization controllers are proposed based on the state information of neighboring agents. The control design is developed for both undirected and directed communication topologies without requiring the accurate model of each agent. This result is further extended to the output feedback case where a neighborhood observer is proposed based on relative output information of neighboring agents. Then, distributed observer-based synchronization controllers are derived and a parameter-dependent Riccati inequality is employed to prove the stability. This design has a favorable decouple property between the observer and the controller designs for nonlinear multiagent systems. For both cases, the developed controllers guarantee that the state of each agent synchronizes to that of the leader with bounded residual errors. Two illustrative examples validate the efficacy of the proposed methods.

A Framework for Context Sensitive Risk-Based Access Control in Medical Information Systems

PubMed Central

Choi, Donghee; Kim, Dohoon; Park, Seog

2015-01-01

Since the access control environment has changed and the threat of insider information leakage has come to the fore, studies on risk-based access control models that decide access permissions dynamically have been conducted vigorously. Medical information systems should protect sensitive data such as medical information from insider threat and enable dynamic access control depending on the context such as life-threatening emergencies. In this paper, we suggest an approach and framework for context sensitive risk-based access control suitable for medical information systems. This approach categorizes context information, estimating and applying risk through context- and treatment-based permission profiling and specifications by expanding the eXtensible Access Control Markup Language (XACML) to apply risk. The proposed framework supports quick responses to medical situations and prevents unnecessary insider data access through dynamic access authorization decisions in accordance with the severity of the context and treatment. PMID:26075013

Viewing hybrid systems as products of control systems and automata

NASA Technical Reports Server (NTRS)

Grossman, R. L.; Larson, R. G.

1992-01-01

The purpose of this note is to show how hybrid systems may be modeled as products of nonlinear control systems and finite state automata. By a hybrid system, we mean a network of consisting of continuous, nonlinear control system connected to discrete, finite state automata. Our point of view is that the automata switches between the control systems, and that this switching is a function of the discrete input symbols or letters that it receives. We show how a nonlinear control system may be viewed as a pair consisting of a bialgebra of operators coding the dynamics, and an algebra of observations coding the state space. We also show that a finite automata has a similar representation. A hybrid system is then modeled by taking suitable products of the bialgebras coding the dynamics and the observation algebras coding the state spaces.

Type-2 fuzzy logic control of a 2-DOF helicopter (TRMS system)

NASA Astrophysics Data System (ADS)

Zeghlache, Samir; Kara, Kamel; Saigaa, Djamel

2014-09-01

The helicopter dynamic includes nonlinearities, parametric uncertainties and is subject to unknown external disturbances. Such complicated dynamics involve designing sophisticated control algorithms that can deal with these difficulties. In this paper, a type 2 fuzzy logic PID controller is proposed for TRMS (twin rotor mimo system) control problem. Using triangular membership functions and based on a human operator experience, two controllers are designed to control the position of the yaw and the pitch angles of the TRMS. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

Dynamic boundary layer based neural network quasi-sliding mode control for soft touching down on asteroid

NASA Astrophysics Data System (ADS)

Liu, Xiaosong; Shan, Zebiao; Li, Yuanchun

2017-04-01

Pinpoint landing is a critical step in some asteroid exploring missions. This paper is concerned with the descent trajectory control for soft touching down on a small irregularly-shaped asteroid. A dynamic boundary layer based neural network quasi-sliding mode control law is proposed to track a desired descending path. The asteroid's gravitational acceleration acting on the spacecraft is described by the polyhedron method. Considering the presence of input constraint and unmodeled acceleration, the dynamic equation of relative motion is presented first. The desired descending path is planned using cubic polynomial method, and a collision detection algorithm is designed. To perform trajectory tracking, a neural network sliding mode control law is given first, where the sliding mode control is used to ensure the convergence of system states. Two radial basis function neural networks (RBFNNs) are respectively used as an approximator for the unmodeled term and a compensator for the difference between the actual control input with magnitude constraint and nominal control. To improve the chattering induced by the traditional sliding mode control and guarantee the reachability of the system, a specific saturation function with dynamic boundary layer is proposed to replace the sign function in the preceding control law. Through the Lyapunov approach, the reachability condition of the control system is given. The improved control law can guarantee the system state move within a gradually shrinking quasi-sliding mode band. Numerical simulation results demonstrate the effectiveness of the proposed control strategy.

Dynamic Sensing Performance of a Point-Wise Fiber Bragg Grating Displacement Measurement System Integrated in an Active Structural Control System

PubMed Central

Chuang, Kuo-Chih; Liao, Heng-Tseng; Ma, Chien-Ching

2011-01-01

In this work, a fiber Bragg grating (FBG) sensing system which can measure the transient response of out-of-plane point-wise displacement responses is set up on a smart cantilever beam and the feasibility of its use as a feedback sensor in an active structural control system is studied experimentally. An FBG filter is employed in the proposed fiber sensing system to dynamically demodulate the responses obtained by the FBG displacement sensor with high sensitivity. For comparison, a laser Doppler vibrometer (LDV) is utilized simultaneously to verify displacement detection ability of the FBG sensing system. An optical full-field measurement technique called amplitude-fluctuation electronic speckle pattern interferometry (AF-ESPI) is used to provide full-field vibration mode shapes and resonant frequencies. To verify the dynamic demodulation performance of the FBG filter, a traditional FBG strain sensor calibrated with a strain gauge is first employed to measure the dynamic strain of impact-induced vibrations. Then, system identification of the smart cantilever beam is performed by FBG strain and displacement sensors. Finally, by employing a velocity feedback control algorithm, the feasibility of integrating the proposed FBG displacement sensing system in a collocated feedback system is investigated and excellent dynamic feedback performance is demonstrated. In conclusion, our experiments show that the FBG sensor is capable of performing dynamic displacement feedback and/or strain measurements with high sensitivity and resolution. PMID:22247683

Differential flatness properties and adaptive control of the hypothalamic-pituitary-adrenal axis model

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos

2016-12-01

It is shown that the model of the hypothalamic-pituitary-adrenal gland axis is a differentially flat one and this permits to transform it to the so-called linear canonical form. For the new description of the system's dynamics the transformed control inputs contain unknown terms which depend on the system's parameters. To identify these terms an adaptive fuzzy approximator is used in the control loop. Thus an adaptive fuzzy control scheme is implemented in which the unknown or unmodeled system dynamics is approximated by neurofuzzy networks and next this information is used by a feedback controller that makes the state variables (CRH - corticotropin releasing hormone, adenocortocotropic hormone - ACTH, cortisol) of the hypothalamic-pituitary-adrenal gland axis model converge to the desirable levels (setpoints). This adaptive control scheme is exclusively implemented with the use of output feedback, while the state vector elements which are not directly measured are estimated with the use of a state observer that operates in the control loop. The learning rate of the adaptive fuzzy system is suitably computed from Lyapunov analysis, so as to assure that both the learning procedure for the unknown system's parameters, the dynamics of the observer and the dynamics of the control loop will remain stable. The performed Lyapunov stability analysis depends on two Riccati equations, one associated with the feedback controller and one associated with the state observer. Finally, it is proven that for the control scheme that comprises the feedback controller, the state observer and the neurofuzzy approximator, an H-infinity tracking performance can be succeeded.

Wire rope tension control of hoisting systems using a robust nonlinear adaptive backstepping control scheme.

PubMed

Zhu, Zhen-Cai; Li, Xiang; Shen, Gang; Zhu, Wei-Dong

2018-01-01

This paper concerns wire rope tension control of a double-rope winding hoisting system (DRWHS), which consists of a hoisting system employed to realize a transportation function and an electro-hydraulic servo system utilized to adjust wire rope tensions. A dynamic model of the DRWHS is developed in which parameter uncertainties and external disturbances are considered. A comparison between simulation results using the dynamic model and experimental results using a double-rope winding hoisting experimental system is given in order to demonstrate accuracy of the dynamic model. In order to improve the wire rope tension coordination control performance of the DRWHS, a robust nonlinear adaptive backstepping controller (RNABC) combined with a nonlinear disturbance observer (NDO) is proposed. Main features of the proposed combined controller are: (1) using the RNABC to adjust wire rope tensions with consideration of parameter uncertainties, whose parameters are designed online by adaptive laws derived from Lyapunov stability theory to guarantee the control performance and stability of the closed-loop system; and (2) introducing the NDO to deal with uncertain external disturbances. In order to demonstrate feasibility and effectiveness of the proposed controller, experimental studies have been conducted on the DRWHS controlled by an xPC rapid prototyping system. Experimental results verify that the proposed controller exhibits excellent performance on wire rope tension coordination control compared with a conventional proportional-integral (PI) controller and adaptive backstepping controller. Copyright © 2017 ISA. All rights reserved.

Dynamic control of magnetic nanowires by light-induced domain-wall kickoffs

NASA Astrophysics Data System (ADS)

Heintze, Eric; El Hallak, Fadi; Clauß, Conrad; Rettori, Angelo; Pini, Maria Gloria; Totti, Federico; Dressel, Martin; Bogani, Lapo

2013-03-01

Controlling the speed at which systems evolve is a challenge shared by all disciplines, and otherwise unrelated areas use common theoretical frameworks towards this goal. A particularly widespread model is Glauber dynamics, which describes the time evolution of the Ising model and can be applied to any binary system. Here we show, using molecular nanowires under irradiation, that Glauber dynamics can be controlled by a novel domain-wall kickoff mechanism. In contrast to known processes, the kickoff has unambiguous fingerprints, slowing down the spin-flip attempt rate by several orders of magnitude, and following a scaling law. The required irradiance is very low, a substantial improvement over present methods of magneto-optical switching. These results provide a new way to control and study stochastic dynamic processes. Being general for Glauber dynamics, they can be extended to different kinds of magnetic nanowires and to numerous fields, ranging from social evolution to neural networks and chemical reactivity.

Dynamics and control of flexible spacecraft during and after slewing maneuvers

NASA Technical Reports Server (NTRS)

Kakad, Yogendra P.

1989-01-01

The dynamics and control of slewing maneuvers of NASA Spacecraft COntrol Laboratory Experiment (SCOLE) are analyzed. The control problem of slewing maneuvers of SCOLE is formulated in terms of an arbitrary maneuver about any given axis. The control system is developed for the combined problem of rigid-body slew maneuver and vibration suppression of the flexible appendage. The control problem formulation incorporates the nonlinear dynamical equations derived previously, and is expressed in terms of a two-point boundary value problem utilizing a quadratic type of performance index. The two-point boundary value problem is solved as a hierarchical control problem with the overall system being split in terms of two subsystems, namely the slewing of the entire assembly and the vibration suppression of the flexible antenna. The coupling variables between the two dynamical subsystems are identified and these two subsystems for control purposes are treated independently in parallel at the first level. Then the state-space trajectory of the combined problem is optimized at the second level.

Control of Complex Dynamic Systems by Neural Networks

NASA Technical Reports Server (NTRS)

Spall, James C.; Cristion, John A.

1993-01-01

This paper considers the use of neural networks (NN's) in controlling a nonlinear, stochastic system with unknown process equations. The NN is used to model the resulting unknown control law. The approach here is based on using the output error of the system to train the NN controller without the need to construct a separate model (NN or other type) for the unknown process dynamics. To implement such a direct adaptive control approach, it is required that connection weights in the NN be estimated while the system is being controlled. As a result of the feedback of the unknown process dynamics, however, it is not possible to determine the gradient of the loss function for use in standard (back-propagation-type) weight estimation algorithms. Therefore, this paper considers the use of a new stochastic approximation algorithm for this weight estimation, which is based on a 'simultaneous perturbation' gradient approximation that only requires the system output error. It is shown that this algorithm can greatly enhance the efficiency over more standard stochastic approximation algorithms based on finite-difference gradient approximations.

Indirect learning control for nonlinear dynamical systems

NASA Technical Reports Server (NTRS)

Ryu, Yeong Soon; Longman, Richard W.

1993-01-01

In a previous paper, learning control algorithms were developed based on adaptive control ideas for linear time variant systems. The learning control methods were shown to have certain advantages over their adaptive control counterparts, such as the ability to produce zero tracking error in time varying systems, and the ability to eliminate repetitive disturbances. In recent years, certain adaptive control algorithms have been developed for multi-body dynamic systems such as robots, with global guaranteed convergence to zero tracking error for the nonlinear system euations. In this paper we study the relationship between such adaptive control methods designed for this specific class of nonlinear systems, and the learning control problem for such systems, seeking to converge to zero tracking error in following a specific command repeatedly, starting from the same initial conditions each time. The extension of these methods from the adaptive control problem to the learning control problem is seen to be trivial. The advantages and disadvantages of using learning control based on such adaptive control concepts for nonlinear systems, and the use of other currently available learning control algorithms are discussed.

Epidemiology of East Coast fever (Theileria parva infection) in Kenya: past, present and the future.

PubMed

Gachohi, John; Skilton, Rob; Hansen, Frank; Ngumi, Priscilla; Kitala, Philip

2012-09-07

In this article, we review the epidemiology of East Coast fever (ECF), a tick-borne infection of cattle, in Kenya. The major factors associated with epidemiology of ECF include the agro-ecological zone (AEZ), livestock production system (LPS) and both animal breed and age. These factors appear to influence the epidemiology of ECF through structured gradients. We further show that the gradients are dynamically shaped by socio-demographic and environmental processes. For a vector-borne disease whose transmission depends on environmental characteristics that influence vector dynamics, a change in the environment implies a change in the epidemiology of the disease. The review recommends that future ECF epidemiological studies should account for these factors and the dynamic interactions between them. In Kenya, ECF control has previously relied predominantly on tick control using acaricides and chemotherapy while ECF immunization is steadily being disseminated. We highlight the contribution of ECF epidemiology and economics in the design of production system and/or geographical area-specific integrated control strategies based on both the dynamic epidemiological risk of the disease and economic impacts of control strategies. In all production systems (except marginal areas), economic analyses demonstrate that integrated control in which ECF immunization is always an important component, can play an important role in the overall control of the disease. Indeed, Kenya has recently approved ECF immunization in all production systems (except in marginal areas). If the infrastructure of the vaccine production and distribution can be heightened, large ECF endemic areas are expected to be endemically stable and the disease controlled. Finally, the review points the way for future research by identifying scenario analyses as a critical methodology on which to base future investigations on how both dynamic livestock management systems and patterns of land use influence the dynamics and complexity of ECF epidemiology and the implications for control.

Epidemiology of East Coast fever (Theileria parva infection) in Kenya: past, present and the future

PubMed Central

2012-01-01

In this article, we review the epidemiology of East Coast fever (ECF), a tick-borne infection of cattle, in Kenya. The major factors associated with epidemiology of ECF include the agro-ecological zone (AEZ), livestock production system (LPS) and both animal breed and age. These factors appear to influence the epidemiology of ECF through structured gradients. We further show that the gradients are dynamically shaped by socio-demographic and environmental processes. For a vector-borne disease whose transmission depends on environmental characteristics that influence vector dynamics, a change in the environment implies a change in the epidemiology of the disease. The review recommends that future ECF epidemiological studies should account for these factors and the dynamic interactions between them. In Kenya, ECF control has previously relied predominantly on tick control using acaricides and chemotherapy while ECF immunization is steadily being disseminated. We highlight the contribution of ECF epidemiology and economics in the design of production system and/or geographical area-specific integrated control strategies based on both the dynamic epidemiological risk of the disease and economic impacts of control strategies. In all production systems (except marginal areas), economic analyses demonstrate that integrated control in which ECF immunization is always an important component, can play an important role in the overall control of the disease. Indeed, Kenya has recently approved ECF immunization in all production systems (except in marginal areas). If the infrastructure of the vaccine production and distribution can be heightened, large ECF endemic areas are expected to be endemically stable and the disease controlled. Finally, the review points the way for future research by identifying scenario analyses as a critical methodology on which to base future investigations on how both dynamic livestock management systems and patterns of land use influence the dynamics and complexity of ECF epidemiology and the implications for control. PMID:22958352

Dynamic Centralized and Decentralized Control Systems

DOT National Transportation Integrated Search

1977-09-01

This report develops a systematic method for designing suboptimal decentralized control systems. The method is then applied to the design of a decentralized controller for a freeway-corridor system. A freeway corridor is considered to be a system of ...

The dynamic simulation of the Progetto Energia combined cycle power plants

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

Giglio, R.; Cerabolini, M.; Pisacane, F.

1996-12-31

Over the next four years, the Progetto Energia project is building several cogeneration plants to satisfy the increasing demands of Italy`s industrial complex and the country`s demand for electrical power. Located at six different sites within Italy`s borders these Combined Cycle Cogeneration Plants will supply a total of 500 MW of electricity and 100 tons/hr of process steam to Italian industries and residences. To ensure project success, a dynamic model of the 50 MW base unit was developed. The goal established for the model was to predict the dynamic behavior of the complex thermodynamic system in order to assess equipmentmore » performance and control system effectiveness for normal operation and, more importantly, abrupt load changes. In addition to fulfilling its goals, the dynamic study guided modifications to controller logic that significantly improved steam drum pressure control and bypassed steam de-superheating performance. Simulations of normal and abrupt transient events allowed engineers to define optimum controller gain coefficients. The paper discusses the Combined Cycle plant configuration, its operating modes and control system, the dynamic model representation, the simulation results and project benefits.« less

Asymptotically suboptimal control of weakly interconnected dynamical systems

NASA Astrophysics Data System (ADS)

Dmitruk, N. M.; Kalinin, A. I.

2016-10-01

Optimal control problems for a group of systems with weak dynamical interconnections between its constituent subsystems are considered. A method for decentralized control is proposed which distributes the control actions between several controllers calculating in real time control inputs only for theirs subsystems based on the solution of the local optimal control problem. The local problem is solved by asymptotic methods that employ the representation of the weak interconnection by a small parameter. Combination of decentralized control and asymptotic methods allows to significantly reduce the dimension of the problems that have to be solved in the course of the control process.

Robust master-slave synchronization for general uncertain delayed dynamical model based on adaptive control scheme.

PubMed

Wang, Tianbo; Zhou, Wuneng; Zhao, Shouwei; Yu, Weiqin

2014-03-01

In this paper, the robust exponential synchronization problem for a class of uncertain delayed master-slave dynamical system is investigated by using the adaptive control method. Different from some existing master-slave models, the considered master-slave system includes bounded unmodeled dynamics. In order to compensate the effect of unmodeled dynamics and effectively achieve synchronization, a novel adaptive controller with simple updated laws is proposed. Moreover, the results are given in terms of LMIs, which can be easily solved by LMI Toolbox in Matlab. A numerical example is given to illustrate the effectiveness of the method. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Development of a helicopter rotor/propulsion system dynamics analysis

NASA Technical Reports Server (NTRS)

Warmbrodt, W.; Hull, R.

1982-01-01

A time-domain analysis of coupled engine/drive train/rotor dynamics of a twin-engine, single main rotor helicopter model has been performed. The analysis incorporates an existing helicopter model with nonlinear simulations of a helicopter turboshaft engine and its fuel controller. System dynamic behavior is studied using the resulting simulation which included representations for the two engines and their fuel controllers, drive system, main rotor, tail rotor, and aircraft rigid body motions. Time histories of engine and rotor RPM response to pilot control inputs are studied for a baseline rotor and propulsion system model. Sensitivity of rotor RPM droop to fuel controller gain changes and collective input feed-forward gain changes are studied. Torque-load-sharing between the two engines is investigated by making changes in the fuel controller feedback paths. A linear engine model is derived from the nonlinear engine simulation and used in the coupled system analysis. This four-state linear engine model is then reduced to a three-state model. The effect of this simplification on coupled system behavior is shown.

Output Containment Control of Linear Heterogeneous Multi-Agent Systems Using Internal Model Principle.

PubMed

Zuo, Shan; Song, Yongduan; Lewis, Frank L; Davoudi, Ali

2017-01-04

This paper studies the output containment control of linear heterogeneous multi-agent systems, where the system dynamics and even the state dimensions can generally be different. Since the states can have different dimensions, standard results from state containment control do not apply. Therefore, the control objective is to guarantee the convergence of the output of each follower to the dynamic convex hull spanned by the outputs of leaders. This can be achieved by making certain output containment errors go to zero asymptotically. Based on this formulation, two different control protocols, namely, full-state feedback and static output-feedback, are designed based on internal model principles. Sufficient local conditions for the existence of the proposed control protocols are developed in terms of stabilizing the local followers' dynamics and satisfying a certain H∞ criterion. Unified design procedures to solve the proposed two control protocols are presented by formulation and solution of certain local state-feedback and static output-feedback problems, respectively. Numerical simulations are given to validate the proposed control protocols.

InfoSymbiotics/DDDAS - The power of Dynamic Data Driven Applications Systems for New Capabilities in Environmental -, Geo-, and Space- Sciences

NASA Astrophysics Data System (ADS)

Darema, F.

2016-12-01

InfoSymbiotics/DDDAS embodies the power of Dynamic Data Driven Applications Systems (DDDAS), a concept whereby an executing application model is dynamically integrated, in a feed-back loop, with the real-time data-acquisition and control components, as well as other data sources of the application system. Advanced capabilities can be created through such new computational approaches in modeling and simulations, and in instrumentation methods, and include: enhancing the accuracy of the application model; speeding-up the computation to allow faster and more comprehensive models of a system, and create decision support systems with the accuracy of full-scale simulations; in addition, the notion of controlling instrumentation processes by the executing application results in more efficient management of application-data and addresses challenges of how to architect and dynamically manage large sets of heterogeneous sensors and controllers, an advance over the static and ad-hoc ways of today - with DDDAS these sets of resources can be managed adaptively and in optimized ways. Large-Scale-Dynamic-Data encompasses the next wave of Big Data, and namely dynamic data arising from ubiquitous sensing and control in engineered, natural, and societal systems, through multitudes of heterogeneous sensors and controllers instrumenting these systems, and where opportunities and challenges at these "large-scales" relate not only to data size but the heterogeneity in data, data collection modalities, fidelities, and timescales, ranging from real-time data to archival data. In tandem with this important dimension of dynamic data, there is an extended view of Big Computing, which includes the collective computing by networked assemblies of multitudes of sensors and controllers, this range from the high-end to the real-time seamlessly integrated and unified, and comprising the Large-Scale-Big-Computing. InfoSymbiotics/DDDAS engenders transformative impact in many application domains, ranging from the nano-scale to the terra-scale and to the extra-terra-scale. The talk will address opportunities for new capabilities together with corresponding research challenges, with illustrative examples from several application areas including environmental sciences, geosciences, and space sciences.

Optimal control on hybrid ode systems with application to a tick disease model.

PubMed

Ding, Wandi

2007-10-01

We are considering an optimal control problem for a type of hybrid system involving ordinary differential equations and a discrete time feature. One state variable has dynamics in only one season of the year and has a jump condition to obtain the initial condition for that corresponding season in the next year. The other state variable has continuous dynamics. Given a general objective functional, existence, necessary conditions and uniqueness for an optimal control are established. We apply our approach to a tick-transmitted disease model with age structure in which the tick dynamics changes seasonally while hosts have continuous dynamics. The goal is to maximize disease-free ticks and minimize infected ticks through an optimal control strategy of treatment with acaricide. Numerical examples are given to illustrate the results.

49 CFR 229.13 - Control of locomotives.

Code of Federal Regulations, 2010 CFR

2010-10-01

... coupled in remote or multiple control, the propulsion system, the sanders, and the power brake system of each locomotive shall respond to control from the cab of the controlling locomotive. If a dynamic brake or regenerative brake system is in use, that portion of the system in use shall respond to control...

An adaptive actuator failure compensation scheme for two linked 2WD mobile robots

NASA Astrophysics Data System (ADS)

Ma, Yajie; Al-Dujaili, Ayad; Cocquempot, Vincent; El Badaoui El Najjar, Maan

2017-01-01

This paper develops a new adaptive compensation control scheme for two linked mobile robots with actuator failurs. A configuration with two linked two-wheel drive (2WD) mobile robots is proposed, and the modelling of its kinematics and dynamics are given. An adaptive failure compensation scheme is developed to compensate actuator failures, consisting of a kinematic controller and a multi-design integration based dynamic controller. The kinematic controller is a virtual one, and based on which, multiple adaptive dynamic control signals are designed which covers all possible failure cases. By combing these dynamic control signals, the dynamic controller is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed adaptive failure compensation scheme.

Noise-resilient quantum evolution steered by dynamical decoupling

PubMed Central

Liu, Gang-Qin; Po, Hoi Chun; Du, Jiangfeng; Liu, Ren-Bao; Pan, Xin-Yu

2013-01-01

Realistic quantum computing is subject to noise. Therefore, an important frontier in quantum computing is to implement noise-resilient quantum control over qubits. At the same time, dynamical decoupling can protect the coherence of qubits. Here we demonstrate non-trivial quantum evolution steered by dynamical decoupling control, which simultaneously suppresses noise effects. We design and implement a self-protected controlled-NOT gate on the electron spin of a nitrogen-vacancy centre and a nearby carbon-13 nuclear spin in diamond at room temperature, by employing an engineered dynamical decoupling control on the electron spin. Final state fidelity of 0.91(1) is observed in preparation of a Bell state using the gate. At the same time, the qubit coherence time is elongated at least 30 fold. The design scheme does not require the dynamical decoupling control to commute with the qubit interaction and therefore works for general qubit systems. This work marks a step towards implementing realistic quantum computing systems. PMID:23912335

Noise-resilient quantum evolution steered by dynamical decoupling.

PubMed

Liu, Gang-Qin; Po, Hoi Chun; Du, Jiangfeng; Liu, Ren-Bao; Pan, Xin-Yu

2013-01-01

Realistic quantum computing is subject to noise. Therefore, an important frontier in quantum computing is to implement noise-resilient quantum control over qubits. At the same time, dynamical decoupling can protect the coherence of qubits. Here we demonstrate non-trivial quantum evolution steered by dynamical decoupling control, which simultaneously suppresses noise effects. We design and implement a self-protected controlled-NOT gate on the electron spin of a nitrogen-vacancy centre and a nearby carbon-13 nuclear spin in diamond at room temperature, by employing an engineered dynamical decoupling control on the electron spin. Final state fidelity of 0.91(1) is observed in preparation of a Bell state using the gate. At the same time, the qubit coherence time is elongated at least 30 fold. The design scheme does not require the dynamical decoupling control to commute with the qubit interaction and therefore works for general qubit systems. This work marks a step towards implementing realistic quantum computing systems.

Rotorcraft control system design for uncertain vehicle dynamics using quantitative feedback theory

NASA Technical Reports Server (NTRS)

Hess, R. A.

1994-01-01

Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which must meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. This theory is applied to the design of the longitudinal flight control system for a linear model of the BO-105C rotorcraft. Uncertainty in the vehicle model is due to the variation in the vehicle dynamics over a range of airspeeds from 0-100 kts. For purposes of exposition, the vehicle description contains no rotor or actuator dynamics. The design example indicates the manner in which significant uncertainty exists in the vehicle model. The advantage of using a sequential loop closure technique to reduce the cost of feedback is demonstrated by example.

Morphological communication: exploiting coupled dynamics in a complex mechanical structure to achieve locomotion

PubMed Central

Rieffel, John A.; Valero-Cuevas, Francisco J.; Lipson, Hod

2010-01-01

Traditional engineering approaches strive to avoid, or actively suppress, nonlinear dynamic coupling among components. Biological systems, in contrast, are often rife with these dynamics. Could there be, in some cases, a benefit to high degrees of dynamical coupling? Here we present a distributed robotic control scheme inspired by the biological phenomenon of tensegrity-based mechanotransduction. This emergence of morphology-as-information-conduit or ‘morphological communication’, enabled by time-sensitive spiking neural networks, presents a new paradigm for the decentralized control of large, coupled, modular systems. These results significantly bolster, both in magnitude and in form, the idea of morphological computation in robotic control. Furthermore, they lend further credence to ideas of embodied anatomical computation in biological systems, on scales ranging from cellular structures up to the tendinous networks of the human hand. PMID:19776146

Dynamic sensitivity analysis of biological systems

PubMed Central

Wu, Wu Hsiung; Wang, Feng Sheng; Chang, Maw Shang

2008-01-01

Background A mathematical model to understand, predict, control, or even design a real biological system is a central theme in systems biology. A dynamic biological system is always modeled as a nonlinear ordinary differential equation (ODE) system. How to simulate the dynamic behavior and dynamic parameter sensitivities of systems described by ODEs efficiently and accurately is a critical job. In many practical applications, e.g., the fed-batch fermentation systems, the system admissible input (corresponding to independent variables of the system) can be time-dependent. The main difficulty for investigating the dynamic log gains of these systems is the infinite dimension due to the time-dependent input. The classical dynamic sensitivity analysis does not take into account this case for the dynamic log gains. Results We present an algorithm with an adaptive step size control that can be used for computing the solution and dynamic sensitivities of an autonomous ODE system simultaneously. Although our algorithm is one of the decouple direct methods in computing dynamic sensitivities of an ODE system, the step size determined by model equations can be used on the computations of the time profile and dynamic sensitivities with moderate accuracy even when sensitivity equations are more stiff than model equations. To show this algorithm can perform the dynamic sensitivity analysis on very stiff ODE systems with moderate accuracy, it is implemented and applied to two sets of chemical reactions: pyrolysis of ethane and oxidation of formaldehyde. The accuracy of this algorithm is demonstrated by comparing the dynamic parameter sensitivities obtained from this new algorithm and from the direct method with Rosenbrock stiff integrator based on the indirect method. The same dynamic sensitivity analysis was performed on an ethanol fed-batch fermentation system with a time-varying feed rate to evaluate the applicability of the algorithm to realistic models with time-dependent admissible input. Conclusion By combining the accuracy we show with the efficiency of being a decouple direct method, our algorithm is an excellent method for computing dynamic parameter sensitivities in stiff problems. We extend the scope of classical dynamic sensitivity analysis to the investigation of dynamic log gains of models with time-dependent admissible input. PMID:19091016

A Control-Theoretic Approach for the Combined Management of Quality-of-Service and Energy in Service Centers

NASA Astrophysics Data System (ADS)

Poussot-Vassal, Charles; Tanelli, Mara; Lovera, Marco

The complexity of Information Technology (IT) systems is steadily increasing and system complexity has been recognised as the main obstacle to further advancements of IT. This fact has recently raised energy management issues. Control techniques have been proposed and successfully applied to design Autonomic Computing systems, trading-off system performance with energy saving goals. As users behaviour is highly time varying and workload conditions can change substantially within the same business day, the Linear Parametrically Varying (LPV) framework is particularly promising for modeling such systems. In this chapter, a control-theoretic method to investigate the trade-off between Quality of Service (QoS) requirements and energy saving objectives in the case of admission control in Web service systems is proposed, considering as control variables the server CPU frequency and the admission probability. To quantitatively evaluate the trade-off, a dynamic model of the admission control dynamics is estimated via LPV identification techniques. Based on this model, an optimisation problem within the Model Predictive Control (MPC) framework is setup, by means of which it is possible to investigate the optimal trade-off policy to manage QoS and energy saving objectives at design time and taking into explicit account the system dynamics.

Dynamic Model and Control of a Photovoltaic Generation System using Energetic Macroscopic Representation

NASA Astrophysics Data System (ADS)

Solano, Javier; Duarte, José; Vargas, Erwin; Cabrera, Jhon; Jácome, Andrés; Botero, Mónica; Rey, Juan

2016-10-01

This paper addresses the Energetic Macroscopic Representation EMR, the modelling and the control of photovoltaic panel PVP generation systems for simulation purposes. The model of the PVP considers the variations on irradiance and temperature. A maximum power point tracking MPPT algorithm is considered to control the power converter. A novel EMR is proposed to consider the dynamic model of the PVP with variations in the irradiance and the temperature. The EMR is evaluated through simulations of a PVP generation system.

Multivariable control of vapor compression systems

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

He, X.D.; Liu, S.; Asada, H.H.

1999-07-01

This paper presents the results of a study of multi-input multi-output (MIMO) control of vapor compression cycles that have multiple actuators and sensors for regulating multiple outputs, e.g., superheat and evaporating temperature. The conventional single-input single-output (SISO) control was shown to have very limited performance. A low order lumped-parameter model was developed to describe the significant dynamics of vapor compression cycles. Dynamic modes were analyzed based on the low order model to provide physical insight of system dynamic behavior. To synthesize a MIMO control system, the Linear-Quadratic Gaussian (LQG) technique was applied to coordinate compressor speed and expansion valve openingmore » with guaranteed stability robustness in the design. Furthermore, to control a vapor compression cycle over a wide range of operating conditions where system nonlinearities become evident, a gain scheduling scheme was used so that the MIMO controller could adapt to changing operating conditions. Both analytical studies and experimental tests showed that the MIMO control could significantly improve the transient behavior of vapor compression cycles compared to the conventional SISO control scheme. The MIMO control proposed in this paper could be extended to the control of vapor compression cycles in a variety of HVAC and refrigeration applications to improve system performance and energy efficiency.« less

Control law synthesis and optimization software for large order aeroservoelastic systems

NASA Technical Reports Server (NTRS)

Mukhopadhyay, V.; Pototzky, A.; Noll, Thomas

1989-01-01

A flexible aircraft or space structure with active control is typically modeled by a large-order state space system of equations in order to accurately represent the rigid and flexible body modes, unsteady aerodynamic forces, actuator dynamics and gust spectra. The control law of this multi-input/multi-output (MIMO) system is expected to satisfy multiple design requirements on the dynamic loads, responses, actuator deflection and rate limitations, as well as maintain certain stability margins, yet should be simple enough to be implemented on an onboard digital microprocessor. A software package for performing an analog or digital control law synthesis for such a system, using optimal control theory and constrained optimization techniques is described.

On reliable control system designs. Ph.D. Thesis; [actuators

NASA Technical Reports Server (NTRS)

Birdwell, J. D.

1978-01-01

A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.

Robustness of controllability and observability of linear time-varying systems with application to the emergency control of power systems

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

Sastry, S. S.; Desoer, C. A.

1980-01-01

Fixed point methods from nonlinear anaysis are used to establish conditions under which the uniform complete controllability of linear time-varying systems is preserved under non-linear perturbations in the state dynamics and the zero-input uniform complete observability of linear time-varying systems is preserved under non-linear perturbation in the state dynamics and output read out map. Algorithms for computing the specific input to steer the perturbed systems from a given initial state to a given final state are also presented. As an application, a very specific emergency control of an interconnected power system is formulated as a steering problem and it ismore » shown that this emergency control is indeed possible in finite time.« less

Experimental Chaos - Proceedings of the 3rd Conference

NASA Astrophysics Data System (ADS)

Harrison, Robert G.; Lu, Weiping; Ditto, William; Pecora, Lou; Spano, Mark; Vohra, Sandeep

1996-10-01

The Table of Contents for the full book PDF is as follows: * Preface * Spatiotemporal Chaos and Patterns * Scale Segregation via Formation of Domains in a Nonlinear Optical System * Laser Dynamics as Hydrodynamics * Spatiotemporal Dynamics of Human Epileptic Seizures * Experimental Transition to Chaos in a Quasi 1D Chain of Oscillators * Measuring Coupling in Spatiotemporal Dynamical Systems * Chaos in Vortex Breakdown * Dynamical Analysis * Radial Basis Function Modelling and Prediction of Time Series * Nonlinear Phenomena in Polyrhythmic Hand Movements * Using Models to Diagnose, Test and Control Chaotic Systems * New Real-Time Analysis of Time Series Data with Physical Wavelets * Control and Synchronization * Measuring and Controlling Chaotic Dynamics in a Slugging Fluidized Bed * Control of Chaos in a Laser with Feedback * Synchronization and Chaotic Diode Resonators * Control of Chaos by Continuous-time Feedback with Delay * A Framework for Communication using Chaos Sychronization * Control of Chaos in Switching Circuits * Astrophysics, Meteorology and Oceanography * Solar-Wind-Magnetospheric Dynamics via Satellite Data * Nonlinear Dynamics of the Solar Atmosphere * Fractal Dimension of Scalar and Vector Variables from Turbulence Measurements in the Atmospheric Surface Layer * Mechanics * Escape and Overturning: Subtle Transient Behavior in Nonlinear Mechanical Models * Organising Centres in the Dynamics of Parametrically Excited Double Pendulums * Intermittent Behaviour in a Heating System Driven by Phase Transitions * Hydrodynamics * Size Segregation in Couette Flow of Granular Material * Routes to Chaos in Rotational Taylor-Couette Flow * Experimental Study of the Laminar-Turbulent Transition in an Open Flow System * Chemistry * Order and Chaos in Excitable Media under External Forcing * A Chemical Wave Propagation with Accelerating Speed Accompanied by Hydrodynamic Flow * Optics * Instabilities in Semiconductor Lasers with Optical Injection * Spatio-Temporal Dynamics of a Bimode CO2 Laser with Saturable Absorber * Chaotic Homoclinic Phenomena in Opto-Thermal Devices * Observation and Characterisation of Low-Frequency Chaos in Semiconductor Lasers with External Feedback * Condensed Matter * The Application of Nonlinear Dynamics in the Study of Ferroelectric Materials * Cellular Convection in a Small Aspect Ratio Liquid Crystal Device * Driven Spin-Wave Dynamics in YIG Films * Quantum Chaology in Quartz * Small Signal Amplification Caused by Nonlinear Properties of Ferroelectrics * Composite Materials Evolved from Chaos * Electronics and Circuits * Controlling a Chaotic Array of Pulse-Coupled Fitzhugh-Nagumo Circuits * Experimental Observation of On-Off Intermittency * Phase Lock-In of Chaotic Relaxation Oscillators * Biology and Medicine * Singular Value Decomposition and Circuit Structure in Invertebrate Ganglia * Nonlinear Forecasting of Spike Trains from Neurons of a Mollusc * Ultradian Rhythm in the Sensitive Plants: Chaos or Coloured Noise? * Chaos and the Crayfish Sixth Ganglion * Hardware Coupled Nonlinear Oscillators as a Model of Retina

[Haptic tracking control for minimally invasive robotic surgery].

PubMed

Xu, Zhaohong; Song, Chengli; Wu, Wenwu

2012-06-01

Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

Large scale dynamic systems

NASA Technical Reports Server (NTRS)

Doolin, B. F.

1975-01-01

Classes of large scale dynamic systems were discussed in the context of modern control theory. Specific examples discussed were in the technical fields of aeronautics, water resources and electric power.

A conceptual framework for evaluating variable speed generator options for wind energy applications

NASA Technical Reports Server (NTRS)

Reddoch, T. W.; Lipo, T. A.; Hinrichsen, E. N.; Hudson, T. L.; Thomas, R. J.

1995-01-01

Interest in variable speed generating technology has accelerated as greater emphasis on overall efficiency and superior dynamic and control properties in wind-electric generating systems are sought. This paper reviews variable speed technology options providing advantages and disadvantages of each. Furthermore, the dynamic properties of variable speed systems are contrasted with synchronous operation. Finally, control properties of variable speed systems are examined.

Static Methods in the Design of Nonlinear Automatic Control Systems,

DTIC Science & Technology

1984-06-27

227 Chapter VI. Ways of Decrease of the Number of Statistical Nodes During the Research of Nonlinear Systems...at present occupies the central place. This region of research was called the statistical dynamics of nonlinear H automatic control systems...receives further development in the numerous research of Soviet and C foreign scientists. Special role in the development of the statistical dynamics of

User's guide for a revised computer program to analyze the LRC 16 foot transonic dynamics tunnel active cable mount system. [computer techniques - aircraft models

NASA Technical Reports Server (NTRS)

Chin, J.; Barbero, P.

1975-01-01

The revision of an existing digital program to analyze the stability of models mounted on a two-cable mount system used in a transonic dynamics wind tunnel is presented. The program revisions and analysis of an active feedback control system to be used for controlling the free-flying models are treated.

Disorder-mediated crowd control in an active matter system

NASA Astrophysics Data System (ADS)

Pinçe, Erçağ; Velu, Sabareesh K. P.; Callegari, Agnese; Elahi, Parviz; Gigan, Sylvain; Volpe, Giovanni; Volpe, Giorgio

2016-03-01

Living active matter systems such as bacterial colonies, schools of fish and human crowds, display a wealth of emerging collective and dynamic behaviours as a result of far-from-equilibrium interactions. The dynamics of these systems are better understood and controlled considering their interaction with the environment, which for realistic systems is often highly heterogeneous and disordered. Here, we demonstrate that the presence of spatial disorder can alter the long-term dynamics in a colloidal active matter system, making it switch between gathering and dispersal of individuals. At equilibrium, colloidal particles always gather at the bottom of any attractive potential; however, under non-equilibrium driving forces in a bacterial bath, the colloids disperse if disorder is added to the potential. The depth of the local roughness in the environment regulates the transition between gathering and dispersal of individuals in the active matter system, thus inspiring novel routes for controlling emerging behaviours far from equilibrium.

Microprocessor based implementation of attitude and shape control of large space structures

NASA Technical Reports Server (NTRS)

Reddy, A. S. S. R.

1984-01-01

The feasibility of off the shelf eight bit and 16 bit microprocessors to implement linear state variable feedback control laws and assessing the real time response to spacecraft dynamics is studied. The complexity of the dynamic model is described along with the appropriate software. An experimental setup of a beam, microprocessor system for implementing the control laws and the needed generalized software to implement any state variable feedback control system is included.

The 14th Annual Conference on Manual Control. [digital simulation of human operator dynamics

NASA Technical Reports Server (NTRS)

1978-01-01

Human operator dynamics during actual manual control or while monitoring the automatic control systems involved in air-to-air tracking, automobile driving, the operator of undersea vehicles, and remote handling are examined. Optimal control models and the use of mathematical theory in representing man behavior in complex man machine system tasks are discussed with emphasis on eye/head tracking and scanning; perception and attention allocation; decision making; and motion simulation and effects.

Learning to Control Advanced Life Support Systems

NASA Technical Reports Server (NTRS)

Subramanian, Devika

2004-01-01

Advanced life support systems have many interacting processes and limited resources. Controlling and optimizing advanced life support systems presents unique challenges. In particular, advanced life support systems are nonlinear coupled dynamical systems and it is difficult for humans to take all interactions into account to design an effective control strategy. In this project. we developed several reinforcement learning controllers that actively explore the space of possible control strategies, guided by rewards from a user specified long term objective function. We evaluated these controllers using a discrete event simulation of an advanced life support system. This simulation, called BioSim, designed by Nasa scientists David Kortenkamp and Scott Bell has multiple, interacting life support modules including crew, food production, air revitalization, water recovery, solid waste incineration and power. They are implemented in a consumer/producer relationship in which certain modules produce resources that are consumed by other modules. Stores hold resources between modules. Control of this simulation is via adjusting flows of resources between modules and into/out of stores. We developed adaptive algorithms that control the flow of resources in BioSim. Our learning algorithms discovered several ingenious strategies for maximizing mission length by controlling the air and water recycling systems as well as crop planting schedules. By exploiting non-linearities in the overall system dynamics, the learned controllers easily out- performed controllers written by human experts. In sum, we accomplished three goals. We (1) developed foundations for learning models of coupled dynamical systems by active exploration of the state space, (2) developed and tested algorithms that learn to efficiently control air and water recycling processes as well as crop scheduling in Biosim, and (3) developed an understanding of the role machine learning in designing control systems for advanced life support.

Dynamic programming methods for concurrent design and dynamic allocation of vehicles embedded in a system-of-systems

NASA Astrophysics Data System (ADS)

Nusawardhana

2007-12-01

Recent developments indicate a changing perspective on how systems or vehicles should be designed. Such transition comes from the way decision makers in defense related agencies address complex problems. Complex problems are now often posed in terms of the capabilities desired, rather than in terms of requirements for a single systems. As a result, the way to provide a set of capabilities is through a collection of several individual, independent systems. This collection of individual independent systems is often referred to as a "System of Systems'' (SoS). Because of the independent nature of the constituent systems in an SoS, approaches to design an SoS, and more specifically, approaches to design a new system as a member of an SoS, will likely be different than the traditional design approaches for complex, monolithic (meaning the constituent parts have no ability for independent operation) systems. Because a system of system evolves over time, this simultaneous system design and resource allocation problem should be investigated in a dynamic context. Such dynamic optimization problems are similar to conventional control problems. However, this research considers problems which not only seek optimizing policies but also seek the proper system or vehicle to operate under these policies. This thesis presents a framework and a set of analytical tools to solve a class of SoS problems that involves the simultaneous design of a new system and allocation of the new system along with existing systems. Such a class of problems belongs to the problems of concurrent design and control of a new systems with solutions consisting of both optimal system design and optimal control strategy. Rigorous mathematical arguments show that the proposed framework solves the concurrent design and control problems. Many results exist for dynamic optimization problems of linear systems. In contrary, results on optimal nonlinear dynamic optimization problems are rare. The proposed framework is equipped with the set of analytical tools to solve several cases of nonlinear optimal control problems: continuous- and discrete-time nonlinear problems with applications on both optimal regulation and tracking. These tools are useful when mathematical descriptions of dynamic systems are available. In the absence of such a mathematical model, it is often necessary to derive a solution based on computer simulation. For this case, a set of parameterized decision may constitute a solution. This thesis presents a method to adjust these parameters based on the principle of stochastic approximation simultaneous perturbation using continuous measurements. The set of tools developed here mostly employs the methods of exact dynamic programming. However, due to the complexity of SoS problems, this research also develops suboptimal solution approaches, collectively recognized as approximate dynamic programming solutions, for large scale problems. The thesis presents, explores, and solves problems from an airline industry, in which a new aircraft is to be designed and allocated along with an existing fleet of aircraft. Because the life cycle of an aircraft is on the order of 10 to 20 years, this problem is to be addressed dynamically so that the new aircraft design is the best design for the fleet over a given time horizon.

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.

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

Role of Graph Architecture in Controlling Dynamical Networks with Applications to Neural Systems.

PubMed

Kim, Jason Z; Soffer, Jonathan M; Kahn, Ari E; Vettel, Jean M; Pasqualetti, Fabio; Bassett, Danielle S

2018-01-01

Networked systems display complex patterns of interactions between components. In physical networks, these interactions often occur along structural connections that link components in a hard-wired connection topology, supporting a variety of system-wide dynamical behaviors such as synchronization. While descriptions of these behaviors are important, they are only a first step towards understanding and harnessing the relationship between network topology and system behavior. Here, we use linear network control theory to derive accurate closed-form expressions that relate the connectivity of a subset of structural connections (those linking driver nodes to non-driver nodes) to the minimum energy required to control networked systems. To illustrate the utility of the mathematics, we apply this approach to high-resolution connectomes recently reconstructed from Drosophila, mouse, and human brains. We use these principles to suggest an advantage of the human brain in supporting diverse network dynamics with small energetic costs while remaining robust to perturbations, and to perform clinically accessible targeted manipulation of the brain's control performance by removing single edges in the network. Generally, our results ground the expectation of a control system's behavior in its network architecture, and directly inspire new directions in network analysis and design via distributed control.

Controlling herding in minority game systems

NASA Astrophysics Data System (ADS)

Zhang, Ji-Qiang; Huang, Zi-Gang; Wu, Zhi-Xi; Su, Riqi; Lai, Ying-Cheng

2016-02-01

Resource allocation takes place in various types of real-world complex systems such as urban traffic, social services institutions, economical and ecosystems. Mathematically, the dynamical process of resource allocation can be modeled as minority games. Spontaneous evolution of the resource allocation dynamics, however, often leads to a harmful herding behavior accompanied by strong fluctuations in which a large majority of agents crowd temporarily for a few resources, leaving many others unused. Developing effective control methods to suppress and eliminate herding is an important but open problem. Here we develop a pinning control method, that the fluctuations of the system consist of intrinsic and systematic components allows us to design a control scheme with separated control variables. A striking finding is the universal existence of an optimal pinning fraction to minimize the variance of the system, regardless of the pinning patterns and the network topology. We carry out a generally applicable theory to explain the emergence of optimal pinning and to predict the dependence of the optimal pinning fraction on the network topology. Our work represents a general framework to deal with the broader problem of controlling collective dynamics in complex systems with potential applications in social, economical and political systems.

Role of graph architecture in controlling dynamical networks with applications to neural systems

NASA Astrophysics Data System (ADS)

Kim, Jason Z.; Soffer, Jonathan M.; Kahn, Ari E.; Vettel, Jean M.; Pasqualetti, Fabio; Bassett, Danielle S.

2018-01-01

Networked systems display complex patterns of interactions between components. In physical networks, these interactions often occur along structural connections that link components in a hard-wired connection topology, supporting a variety of system-wide dynamical behaviours such as synchronization. Although descriptions of these behaviours are important, they are only a first step towards understanding and harnessing the relationship between network topology and system behaviour. Here, we use linear network control theory to derive accurate closed-form expressions that relate the connectivity of a subset of structural connections (those linking driver nodes to non-driver nodes) to the minimum energy required to control networked systems. To illustrate the utility of the mathematics, we apply this approach to high-resolution connectomes recently reconstructed from Drosophila, mouse, and human brains. We use these principles to suggest an advantage of the human brain in supporting diverse network dynamics with small energetic costs while remaining robust to perturbations, and to perform clinically accessible targeted manipulation of the brain's control performance by removing single edges in the network. Generally, our results ground the expectation of a control system's behaviour in its network architecture, and directly inspire new directions in network analysis and design via distributed control.

Maxwell Demon Dynamics: Deterministic Chaos, the Szilard Map, and the Intelligence of Thermodynamic Systems

NASA Astrophysics Data System (ADS)

Boyd, Alexander B.; Crutchfield, James P.

2016-05-01

We introduce a deterministic chaotic system—the Szilard map—that encapsulates the measurement, control, and erasure protocol by which Maxwellian demons extract work from a heat reservoir. Implementing the demon's control function in a dynamical embodiment, our construction symmetrizes the demon and the thermodynamic system, allowing one to explore their functionality and recover the fundamental trade-off between the thermodynamic costs of dissipation due to measurement and those due to erasure. The map's degree of chaos—captured by the Kolmogorov-Sinai entropy—is the rate of energy extraction from the heat bath. Moreover, an engine's statistical complexity quantifies the minimum necessary system memory for it to function. In this way, dynamical instability in the control protocol plays an essential and constructive role in intelligent thermodynamic systems.

Power Control and Optimization of Photovoltaic and Wind Energy Conversion Systems

NASA Astrophysics Data System (ADS)

Ghaffari, Azad

Power map and Maximum Power Point (MPP) of Photovoltaic (PV) and Wind Energy Conversion Systems (WECS) highly depend on system dynamics and environmental parameters, e.g., solar irradiance, temperature, and wind speed. Power optimization algorithms for PV systems and WECS are collectively known as Maximum Power Point Tracking (MPPT) algorithm. Gradient-based Extremum Seeking (ES), as a non-model-based MPPT algorithm, governs the system to its peak point on the steepest descent curve regardless of changes of the system dynamics and variations of the environmental parameters. Since the power map shape defines the gradient vector, then a close estimate of the power map shape is needed to create user assignable transients in the MPPT algorithm. The Hessian gives a precise estimate of the power map in a neighborhood around the MPP. The estimate of the inverse of the Hessian in combination with the estimate of the gradient vector are the key parts to implement the Newton-based ES algorithm. Hence, we generate an estimate of the Hessian using our proposed perturbation matrix. Also, we introduce a dynamic estimator to calculate the inverse of the Hessian which is an essential part of our algorithm. We present various simulations and experiments on the micro-converter PV systems to verify the validity of our proposed algorithm. The ES scheme can also be used in combination with other control algorithms to achieve desired closed-loop performance. The WECS dynamics is slow which causes even slower response time for the MPPT based on the ES. Hence, we present a control scheme, extended from Field-Oriented Control (FOC), in combination with feedback linearization to reduce the convergence time of the closed-loop system. Furthermore, the nonlinear control prevents magnetic saturation of the stator of the Induction Generator (IG). The proposed control algorithm in combination with the ES guarantees the closed-loop system robustness with respect to high level parameter uncertainty in the IG dynamics. The simulation results verify the effectiveness of the proposed algorithm.

Koopman Invariant Subspaces and Finite Linear Representations of Nonlinear Dynamical Systems for Control

PubMed Central

Brunton, Steven L.; Brunton, Bingni W.; Proctor, Joshua L.; Kutz, J. Nathan

2016-01-01

In this work, we explore finite-dimensional linear representations of nonlinear dynamical systems by restricting the Koopman operator to an invariant subspace spanned by specially chosen observable functions. The Koopman operator is an infinite-dimensional linear operator that evolves functions of the state of a dynamical system. Dominant terms in the Koopman expansion are typically computed using dynamic mode decomposition (DMD). DMD uses linear measurements of the state variables, and it has recently been shown that this may be too restrictive for nonlinear systems. Choosing the right nonlinear observable functions to form an invariant subspace where it is possible to obtain linear reduced-order models, especially those that are useful for control, is an open challenge. Here, we investigate the choice of observable functions for Koopman analysis that enable the use of optimal linear control techniques on nonlinear problems. First, to include a cost on the state of the system, as in linear quadratic regulator (LQR) control, it is helpful to include these states in the observable subspace, as in DMD. However, we find that this is only possible when there is a single isolated fixed point, as systems with multiple fixed points or more complicated attractors are not globally topologically conjugate to a finite-dimensional linear system, and cannot be represented by a finite-dimensional linear Koopman subspace that includes the state. We then present a data-driven strategy to identify relevant observable functions for Koopman analysis by leveraging a new algorithm to determine relevant terms in a dynamical system by ℓ1-regularized regression of the data in a nonlinear function space; we also show how this algorithm is related to DMD. Finally, we demonstrate the usefulness of nonlinear observable subspaces in the design of Koopman operator optimal control laws for fully nonlinear systems using techniques from linear optimal control. PMID:26919740

Dynamic Measurement of Extra Long Stroke Cylinder in the Pneumatic System

NASA Astrophysics Data System (ADS)

Chang, Ho; Lan, Chou-wei; Chen, Liang-Chia

2006-10-01

This paper sets up the measure and control system of the dynamic characteristics of the extra long stroke cylinder. In the different types of the control conditions (e.g. different control law, operating pressure and direct control valves), using the measure and control system to measure the relation between the pressure and the velocity of the motion of the long stroke cylinder and to observe the stick slip phenomenon of the motion of the long stroke cylinder. In the innovate measurement system, two pressure sensors are set on the long stroke cylinder to measure the difference of the pressure between the inlet and the exhaust of the long stroke cylinder. In additions, a draw line encoder is set on the system to measure the position and the velocity of the motion of the long stroke cylinder. The measuring data of the measure system is transferred to the computer via A/D interface card and counter card, and Home-made program of Haptic Interface Device is used to control the system, saving the data of the motion of the long stroke cylinder. The system uses different types of direction control valve to control the motion of the long stroke cylinder and compares the difference of the motion of the long stroke cylinder. The results show that the motion of the cylinder that pauses in the middle of the cylinder stroke and causes the stick slip phenomenon is more violent than the stick slip phenomenon in other position. When the length of the pause time reaches the some range, the acceleration of the motion of the cylinder will be rised substantially. This paper not only focuses on the testing method of the dynamic characteristics of the motion of the long stroke cylinder, but also includes the analysis of the dynamic characteristics of the motion of the long stroke cylinder. It provides the data of the dynamic characteristics of the motion of the long stroke cylinder to improve and design the pneumatic system of the long stroke cylinder.

Adaptive output feedback control of flexible-joint robots using neural networks: dynamic surface design approach.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2008-10-01

In this paper, we propose a new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique. The proposed method only requires position measurements of the FJED robots. To estimate the link and actuator velocity information of the FJED robots with model uncertainties, we develop an adaptive observer using self-recurrent wavelet neural networks (SRWNNs). The SRWNNs are used to approximate model uncertainties in both robot (link) dynamics and actuator dynamics, and all their weights are trained online. Based on the designed observer, the link position tracking controller using the estimated states is induced from the dynamic surface design procedure. Therefore, the proposed controller can be designed more simply than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded. Finally, the simulation results on a three-link FJED robot are presented to validate the good position tracking performance and robustness of the proposed control system against payload uncertainties and external disturbances.

Emerging technology for advancing the treatment of epilepsy using a dynamic control framework.

PubMed

Stanslaski, Scott; Giftakis, John; Stypulkowski, Paul; Carlson, Dave; Afshar, Pedram; Cong, Peng; Denison, Timothy

2011-01-01

We briefly describe a dynamic control system framework for neuromodulation for epilepsy, with an emphasis on its practical challenges and the preliminary validation of key prototype technologies in a chronic animal model. The current state of neuromodulation can be viewed as a classical dynamic control framework such that the nervous system is the classical "plant", the neural stimulator is the controller/actuator, clinical observation, patient diaries and/or measured bio-markers are the sensor, and clinical judgment applied to these sensor inputs forms the state estimator. Technology can potentially address two main factors contributing to the performance limitations of existing systems: "observability," the ability to observe the state of the system from output measurements, and "controllability," the ability to drive the system to a desired state. In addition to improving sensors and actuator performance, methods and tools to better understand disease state dynamics and state estimation are also critical for improving therapy outcomes. We describe our preliminary validation of key "observability" and "controllability" technology blocks using an implanted research tool in an epilepsy disease model. This model allows for testing the key emerging technologies in a representative neural network of therapeutic importance. In the future, we believe these technologies might enable both first principles understanding of neural network behavior for optimizing therapy design, and provide a practical pathway towards clinical translation.

Realtime control of multiple-focus phased array heating patterns based on noninvasive ultrasound thermography.

PubMed

Casper, Andrew; Liu, Dalong; Ebbini, Emad S

2012-01-01

A system for the realtime generation and control of multiple-focus ultrasound phased-array heating patterns is presented. The system employs a 1-MHz, 64-element array and driving electronics capable of fine spatial and temporal control of the heating pattern. The driver is integrated with a realtime 2-D temperature imaging system implemented on a commercial scanner. The coordinates of the temperature control points are defined on B-mode guidance images from the scanner, together with the temperature set points and controller parameters. The temperature at each point is controlled by an independent proportional, integral, and derivative controller that determines the focal intensity at that point. Optimal multiple-focus synthesis is applied to generate the desired heating pattern at the control points. The controller dynamically reallocates the power available among the foci from the shared power supply upon reaching the desired temperature at each control point. Furthermore, anti-windup compensation is implemented at each control point to improve the system dynamics. In vitro experiments in tissue-mimicking phantom demonstrate the robustness of the controllers for short (2-5 s) and longer multiple-focus high-intensity focused ultrasound exposures. Thermocouple measurements in the vicinity of the control points confirm the dynamics of the temperature variations obtained through noninvasive feedback. © 2011 IEEE

Experimental validation of docking and capture using space robotics testbeds

NASA Technical Reports Server (NTRS)

Spofford, John; Schmitz, Eric; Hoff, William

1991-01-01

This presentation describes the application of robotic and computer vision systems to validate docking and capture operations for space cargo transfer vehicles. Three applications are discussed: (1) air bearing systems in two dimensions that yield high quality free-flying, flexible, and contact dynamics; (2) validation of docking mechanisms with misalignment and target dynamics; and (3) computer vision technology for target location and real-time tracking. All the testbeds are supported by a network of engineering workstations for dynamic and controls analyses. Dynamic simulation of multibody rigid and elastic systems are performed with the TREETOPS code. MATRIXx/System-Build and PRO-MATLAB/Simulab are the tools for control design and analysis using classical and modern techniques such as H-infinity and LQG/LTR. SANDY is a general design tool to optimize numerically a multivariable robust compensator with a user-defined structure. Mathematica and Macsyma are used to derive symbolically dynamic and kinematic equations.

Enhanced High Performance Power Compensation Methodology by IPFC Using PIGBT-IDVR

PubMed Central

Arumugom, Subramanian; Rajaram, Marimuthu

2015-01-01

Currently, power systems are involuntarily controlled without high speed control and are frequently initiated, therefore resulting in a slow process when compared with static electronic devices. Among various power interruptions in power supply systems, voltage dips play a central role in causing disruption. The dynamic voltage restorer (DVR) is a process based on voltage control that compensates for line transients in the distributed system. To overcome these issues and to achieve a higher speed, a new methodology called the Parallel IGBT-Based Interline Dynamic Voltage Restorer (PIGBT-IDVR) method has been proposed, which mainly spotlights the dynamic processing of energy reloads in common dc-linked energy storage with less adaptive transition. The interline power flow controller (IPFC) scheme has been employed to manage the power transmission between the lines and the restorer method for controlling the reactive power in the individual lines. By employing the proposed methodology, the failure of a distributed system has been avoided and provides better performance than the existing methodologies. PMID:26613101

Predictor-Based Model Reference Adaptive Control

NASA Technical Reports Server (NTRS)

Lavretsky, Eugene; Gadient, Ross; Gregory, Irene M.

2009-01-01

This paper is devoted to robust, Predictor-based Model Reference Adaptive Control (PMRAC) design. The proposed adaptive system is compared with the now-classical Model Reference Adaptive Control (MRAC) architecture. Simulation examples are presented. Numerical evidence indicates that the proposed PMRAC tracking architecture has better than MRAC transient characteristics. In this paper, we presented a state-predictor based direct adaptive tracking design methodology for multi-input dynamical systems, with partially known dynamics. Efficiency of the design was demonstrated using short period dynamics of an aircraft. Formal proof of the reported PMRAC benefits constitute future research and will be reported elsewhere.

Nonlinear control for a class of hydraulic servo system.

PubMed

Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

2004-11-01

The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

Controlling Complex Systems and Developing Dynamic Technology

NASA Astrophysics Data System (ADS)

Avizienis, Audrius Victor

In complex systems, control and understanding become intertwined. Following Ilya Prigogine, we define complex systems as having control parameters which mediate transitions between distinct modes of dynamical behavior. From this perspective, determining the nature of control parameters and demonstrating the associated dynamical phase transitions are practically equivalent and fundamental to engaging with complexity. In the first part of this work, a control parameter is determined for a non-equilibrium electrochemical system by studying a transition in the morphology of structures produced by an electroless deposition reaction. Specifically, changing the size of copper posts used as the substrate for growing metallic silver structures by the reduction of Ag+ from solution under diffusion-limited reaction conditions causes a dynamical phase transition in the crystal growth process. For Cu posts with edge lengths on the order of one micron, local forces promoting anisotropic growth predominate, and the reaction produces interconnected networks of Ag nanowires. As the post size is increased above 10 microns, the local interfacial growth reaction dynamics couple with the macroscopic diffusion field, leading to spatially propagating instabilities in the electrochemical potential which induce periodic branching during crystal growth, producing dendritic deposits. This result is interesting both as an example of control and understanding in a complex system, and as a useful combination of top-down lithography with bottom-up electrochemical self-assembly. The second part of this work focuses on the technological development of devices fabricated using this non-equilibrium electrochemical process, towards a goal of integrating a complex network as a dynamic functional component in a neuromorphic computing device. Self-assembled networks of silver nanowires were reacted with sulfur to produce interfacial "atomic switches": silver-silver sulfide junctions, which exhibit complex dynamics (e.g. both short- and long-term changes in conductivity) in response to applied voltage signals. Characterization of these atomic switch networks (ASNs) brought out interesting parallels to biological neural networks, including power-law scaling in the statistics of electrical signal propagation and dynamic self-organization of differentiated subnetworks. A reservoir computing (RC) strategy was employed to utilize measurements of electrical signals dynamically generated in ASNs to perform time-series memory and manipulation tasks including a parity test and arbitrary waveform generation. These results represent the useful integration of a complex network into a dynamic physical RC device.

Nonlinear versus Ordinary Adaptive Control of Continuous Stirred-Tank Reactor

PubMed Central

Dostal, Petr

2015-01-01

Unfortunately, the major group of the systems in industry has nonlinear behavior and control of such processes with conventional control approaches with fixed parameters causes problems and suboptimal or unstable control results. An adaptive control is one way to how we can cope with nonlinearity of the system. This contribution compares classic adaptive control and its modification with Wiener system. This configuration divides nonlinear controller into the dynamic linear part and the static nonlinear part. The dynamic linear part is constructed with the use of polynomial synthesis together with the pole-placement method and the spectral factorization. The static nonlinear part uses static analysis of the controlled plant for introducing the mathematical nonlinear description of the relation between the controlled output and the change of the control input. Proposed controller is tested by the simulations on the mathematical model of the continuous stirred-tank reactor with cooling in the jacket as a typical nonlinear system. PMID:26346878

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.

Dissertation Defense Computational Fluid Dynamics Uncertainty Analysis for Payload Fairing Spacecraft Environmental Control Systems

NASA Technical Reports Server (NTRS)

Groves, Curtis Edward

2014-01-01

Spacecraft thermal protection systems are at risk of being damaged due to airflow produced from Environmental Control Systems. There are inherent uncertainties and errors associated with using Computational Fluid Dynamics to predict the airflow field around a spacecraft from the Environmental Control System. This paper describes an approach to quantify the uncertainty in using Computational Fluid Dynamics to predict airflow speeds around an encapsulated spacecraft without the use of test data. Quantifying the uncertainty in analytical predictions is imperative to the success of any simulation-based product. The method could provide an alternative to traditional "validation by test only" mentality. This method could be extended to other disciplines and has potential to provide uncertainty for any numerical simulation, thus lowering the cost of performing these verifications while increasing the confidence in those predictions. Spacecraft requirements can include a maximum airflow speed to protect delicate instruments during ground processing. Computational Fluid Dynamics can be used to verify these requirements; however, the model must be validated by test data. This research includes the following three objectives and methods. Objective one is develop, model, and perform a Computational Fluid Dynamics analysis of three (3) generic, non-proprietary, environmental control systems and spacecraft configurations. Several commercially available and open source solvers have the capability to model the turbulent, highly three-dimensional, incompressible flow regime. The proposed method uses FLUENT, STARCCM+, and OPENFOAM. Objective two is to perform an uncertainty analysis of the Computational Fluid Dynamics model using the methodology found in "Comprehensive Approach to Verification and Validation of Computational Fluid Dynamics Simulations". This method requires three separate grids and solutions, which quantify the error bars around Computational Fluid Dynamics predictions. The method accounts for all uncertainty terms from both numerical and input variables. Objective three is to compile a table of uncertainty parameters that could be used to estimate the error in a Computational Fluid Dynamics model of the Environmental Control System /spacecraft system. Previous studies have looked at the uncertainty in a Computational Fluid Dynamics model for a single output variable at a single point, for example the re-attachment length of a backward facing step. For the flow regime being analyzed (turbulent, three-dimensional, incompressible), the error at a single point can propagate into the solution both via flow physics and numerical methods. Calculating the uncertainty in using Computational Fluid Dynamics to accurately predict airflow speeds around encapsulated spacecraft in is imperative to the success of future missions.

Dissertation Defense: Computational Fluid Dynamics Uncertainty Analysis for Payload Fairing Spacecraft Environmental Control Systems

NASA Technical Reports Server (NTRS)

Groves, Curtis Edward

2014-01-01

Spacecraft thermal protection systems are at risk of being damaged due to airflow produced from Environmental Control Systems. There are inherent uncertainties and errors associated with using Computational Fluid Dynamics to predict the airflow field around a spacecraft from the Environmental Control System. This paper describes an approach to quantify the uncertainty in using Computational Fluid Dynamics to predict airflow speeds around an encapsulated spacecraft without the use of test data. Quantifying the uncertainty in analytical predictions is imperative to the success of any simulation-based product. The method could provide an alternative to traditional validation by test only mentality. This method could be extended to other disciplines and has potential to provide uncertainty for any numerical simulation, thus lowering the cost of performing these verifications while increasing the confidence in those predictions.Spacecraft requirements can include a maximum airflow speed to protect delicate instruments during ground processing. Computational Fluid Dynamics can be used to verify these requirements; however, the model must be validated by test data. This research includes the following three objectives and methods. Objective one is develop, model, and perform a Computational Fluid Dynamics analysis of three (3) generic, non-proprietary, environmental control systems and spacecraft configurations. Several commercially available and open source solvers have the capability to model the turbulent, highly three-dimensional, incompressible flow regime. The proposed method uses FLUENT, STARCCM+, and OPENFOAM. Objective two is to perform an uncertainty analysis of the Computational Fluid Dynamics model using the methodology found in Comprehensive Approach to Verification and Validation of Computational Fluid Dynamics Simulations. This method requires three separate grids and solutions, which quantify the error bars around Computational Fluid Dynamics predictions. The method accounts for all uncertainty terms from both numerical and input variables. Objective three is to compile a table of uncertainty parameters that could be used to estimate the error in a Computational Fluid Dynamics model of the Environmental Control System spacecraft system.Previous studies have looked at the uncertainty in a Computational Fluid Dynamics model for a single output variable at a single point, for example the re-attachment length of a backward facing step. For the flow regime being analyzed (turbulent, three-dimensional, incompressible), the error at a single point can propagate into the solution both via flow physics and numerical methods. Calculating the uncertainty in using Computational Fluid Dynamics to accurately predict airflow speeds around encapsulated spacecraft in is imperative to the success of future missions.

Computational Fluid Dynamics Uncertainty Analysis for Payload Fairing Spacecraft Environmental Control Systems

NASA Technical Reports Server (NTRS)

Groves, Curtis E.

2013-01-01

Spacecraft thermal protection systems are at risk of being damaged due to airflow produced from Environmental Control Systems. There are inherent uncertainties and errors associated with using Computational Fluid Dynamics to predict the airflow field around a spacecraft from the Environmental Control System. This proposal describes an approach to validate the uncertainty in using Computational Fluid Dynamics to predict airflow speeds around an encapsulated spacecraft. The research described here is absolutely cutting edge. Quantifying the uncertainty in analytical predictions is imperative to the success of any simulation-based product. The method could provide an alternative to traditional"validation by test only'' mentality. This method could be extended to other disciplines and has potential to provide uncertainty for any numerical simulation, thus lowering the cost of performing these verifications while increasing the confidence in those predictions. Spacecraft requirements can include a maximum airflow speed to protect delicate instruments during ground processing. Computationaf Fluid Dynamics can be used to veritY these requirements; however, the model must be validated by test data. The proposed research project includes the following three objectives and methods. Objective one is develop, model, and perform a Computational Fluid Dynamics analysis of three (3) generic, non-proprietary, environmental control systems and spacecraft configurations. Several commercially available solvers have the capability to model the turbulent, highly three-dimensional, incompressible flow regime. The proposed method uses FLUENT and OPEN FOAM. Objective two is to perform an uncertainty analysis of the Computational Fluid . . . Dynamics model using the methodology found in "Comprehensive Approach to Verification and Validation of Computational Fluid Dynamics Simulations". This method requires three separate grids and solutions, which quantify the error bars around Computational Fluid Dynamics predictions. The method accounts for all uncertainty terms from both numerical and input variables. Objective three is to compile a table of uncertainty parameters that could be used to estimate the error in a Computational Fluid Dynamics model of the Environmental Control System /spacecraft system. Previous studies have looked at the uncertainty in a Computational Fluid Dynamics model for a single output variable at a single point, for example the re-attachment length of a backward facing step. To date, the author is the only person to look at the uncertainty in the entire computational domain. For the flow regime being analyzed (turbulent, threedimensional, incompressible), the error at a single point can propagate into the solution both via flow physics and numerical methods. Calculating the uncertainty in using Computational Fluid Dynamics to accurately predict airflow speeds around encapsulated spacecraft in is imperative to the success of future missions.

Nonlinear dynamics and control of a vibrating rectangular plate

NASA Technical Reports Server (NTRS)

Shebalin, J. V.

1983-01-01

The von Karman equations of nonlinear elasticity are solved for the case of a vibrating rectangular plate by meams of a Fourier spectral transform method. The amplification of a particular Fourier mode by nonlinear transfer of energy is demonstrated for this conservative system. The multi-mode system is reduced to a minimal (two mode) system, retaining the qualitative features of the multi-mode system. The effect of a modal control law on the dynamics of this minimal nonlinear elastic system is examined.

Control dynamics of interaction quenched ultracold bosons in periodically driven lattices

NASA Astrophysics Data System (ADS)

Mistakidis, Simeon; Schmelcher, Peter; Group of Fundamental Processes in Quantum Physics Team

2016-05-01

The out-of-equilibrium dynamics of ultracold bosons following an interaction quench upon a periodically driven optical lattice is investigated. It is shown that an interaction quench triggers the inter-well tunneling dynamics, while for the intra-well dynamics breathing and cradle-like processes can be generated. In particular, the occurrence of a resonance between the cradle and tunneling modes is revealed. On the other hand, the employed periodic driving enforces the bosons in the mirror wells to oscillate out-of-phase and to exhibit a dipole mode, while in the central well the cloud experiences a breathing mode. The dynamical behaviour of the system is investigated with respect to the driving frequency revealing a resonant behaviour of the intra-well dynamics. To drive the system in a highly non-equilibrium state an interaction quench upon the driving is performed giving rise to admixtures of excitations in the outer wells, an enhanced breathing in the center and an amplification of the tunneling dynamics. As a result of the quench the system experiences multiple resonances between the inter- and intra-well dynamics at different quench amplitudes. Deutsche Forschungsgemeinschaft, SFB 925 ``Light induced dynamics and control of correlated quantum systems''.

Nonlinear dynamical systems for theory and research in ergonomics.

PubMed

Guastello, Stephen J

2017-02-01

Nonlinear dynamical systems (NDS) theory offers new constructs, methods and explanations for phenomena that have in turn produced new paradigms of thinking within several disciplines of the behavioural sciences. This article explores the recent developments of NDS as a paradigm in ergonomics. The exposition includes its basic axioms, the primary constructs from elementary dynamics and so-called complexity theory, an overview of its methods, and growing areas of application within ergonomics. The applications considered here include: psychophysics, iconic displays, control theory, cognitive workload and fatigue, occupational accidents, resilience of systems, team coordination and synchronisation in systems. Although these applications make use of different subsets of NDS constructs, several of them share the general principles of the complex adaptive system. Practitioner Summary: Nonlinear dynamical systems theory reframes problems in ergonomics that involve complex systems as they change over time. The leading applications to date include psychophysics, control theory, cognitive workload and fatigue, biomechanics, occupational accidents, resilience of systems, team coordination and synchronisation of system components.

On stochastic control and optimal measurement strategies. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Kramer, L. C.

1971-01-01

The control of stochastic dynamic systems is studied with particular emphasis on those which influence the quality or nature of the measurements which are made to effect control. Four main areas are discussed: (1) the meaning of stochastic optimality and the means by which dynamic programming may be applied to solve a combined control/measurement problem; (2) a technique by which it is possible to apply deterministic methods, specifically the minimum principle, to the study of stochastic problems; (3) the methods described are applied to linear systems with Gaussian disturbances to study the structure of the resulting control system; and (4) several applications are considered.

Manual control of unstable systems

NASA Technical Reports Server (NTRS)

Allen, R. W.; Hogue, J. R.; Parseghian, Z.

1986-01-01

Under certain operational regimes and failure modes, air and ground vehicles can present the human operator with a dynamically unstable or divergent control task. Research conducted over the last two decades has explored the ability of the human operator to control unstable systems under a variety of circumstances. Past research is reviewed and human operator control capabilities are summarized. A current example of automobile directional control under rear brake lockup conditions is also reviewed. A control system model analysis of the driver's steering control task is summarized, based on a generic driver/vehicle model presented at last year's Annual Manual. Results from closed course braking tests are presented that confirm the difficulty the average driver has in controlling the unstable directional dynamics arising from rear wheel lockup.

Large Angle Transient Dynamics (LATDYN) user's manual

NASA Technical Reports Server (NTRS)

Abrahamson, A. Louis; Chang, Che-Wei; Powell, Michael G.; Wu, Shih-Chin; Bingel, Bradford D.; Theophilos, Paula M.

1991-01-01

A computer code for modeling the large angle transient dynamics (LATDYN) of structures was developed to investigate techniques for analyzing flexible deformation and control/structure interaction problems associated with large angular motions of spacecraft. This type of analysis is beyond the routine capability of conventional analytical tools without simplifying assumptions. In some instances, the motion may be sufficiently slow and the spacecraft (or component) sufficiently rigid to simplify analyses of dynamics and controls by making pseudo-static and/or rigid body assumptions. The LATDYN introduces a new approach to the problem by combining finite element structural analysis, multi-body dynamics, and control system analysis in a single tool. It includes a type of finite element that can deform and rotate through large angles at the same time, and which can be connected to other finite elements either rigidly or through mechanical joints. The LATDYN also provides symbolic capabilities for modeling control systems which are interfaced directly with the finite element structural model. Thus, the nonlinear equations representing the structural model are integrated along with the equations representing sensors, processing, and controls as a coupled system.

Introduction to Dynamic Bifurcation.

DTIC Science & Technology

1983-05-01

D-Ai33 252 INTRODUCTION TO DYNAMIC BIFtJRCATION(U) BROWIN UNIV PROVIDENCE RI LEFSCHETZ CENTER FOR DYNAMICAL SYSTEMS J K HALE MAY 83 LCDS-83-16 AFOSR...AV 04 Lefschetz Center for Dynamical Systems 0@0 UNCLASSIFIED. %;". "" I " PO. T NUMUER i2 ACCLSSIONNO .l l’. " . 0’l . 11...A0., .,N ; Lefschet; Center for Dynamical Systems Div. of Applied Math., Prov., R.I. 02912 PE61102F; 2304/A4 "t. CONTrOLLING OFFICE NAME AND ADORESS

Nonequilibrium optical control of dynamical states in superconducting nanowire circuits

PubMed Central

Madan, Ivan; Baranov, Vladimir V.

2018-01-01

Optical control of states exhibiting macroscopic phase coherence in condensed matter systems opens intriguing possibilities for materials and device engineering, including optically controlled qubits and photoinduced superconductivity. Metastable states, which in bulk materials are often associated with the formation of topological defects, are of more practical interest. Scaling to nanosize leads to reduced dimensionality, fundamentally changing the system’s properties. In one-dimensional superconducting nanowires, vortices that are present in three-dimensional systems are replaced by fluctuating topological defects of the phase. These drastically change the dynamical behavior of the superconductor and introduce dynamical periodic long-range ordered states when the current is driven through the wire. We report the control and manipulation of transitions between different dynamically stable states in superconducting δ3-MoN nanowire circuits by ultrashort laser pulses. Not only can the transitions between different dynamically stable states be precisely controlled by light, but we also discovered new photoinduced hidden states that cannot be reached under near-equilibrium conditions, created while laser photoexcited quasi-particles are outside the equilibrium condition. The observed switching behavior can be understood in terms of dynamical stabilization of various spatiotemporal periodic trajectories of the order parameter in the superconductor nanowire, providing means for the optical control of the superconducting phase with subpicosecond control of timing. PMID:29670935

Adaptive modeling, identification, and control of dynamic structural systems. I. Theory

USGS Publications Warehouse

Safak, Erdal

1989-01-01

A concise review of the theory of adaptive modeling, identification, and control of dynamic structural systems based on discrete-time recordings is presented. Adaptive methods have four major advantages over the classical methods: (1) Removal of the noise from the signal is done over the whole frequency band; (2) time-varying characteristics of systems can be tracked; (3) systems with unknown characteristics can be controlled; and (4) a small segment of the data is needed during the computations. Included in the paper are the discrete-time representation of single-input single-output (SISO) systems, models for SISO systems with noise, the concept of stochastic approximation, recursive prediction error method (RPEM) for system identification, and the adaptive control. Guidelines for model selection and model validation and the computational aspects of the method are also discussed in the paper. The present paper is the first of two companion papers. The theory given in the paper is limited to that which is necessary to follow the examples for applications in structural dynamics presented in the second paper.

Dynamic analysis of gas-core reactor system

NASA Technical Reports Server (NTRS)

Turner, K. H., Jr.

1973-01-01

A heat transfer analysis was incorporated into a previously developed model CODYN to obtain a model of open-cycle gaseous core reactor dynamics which can predict the heat flux at the cavity wall. The resulting model was used to study the sensitivity of the model to the value of the reactivity coefficients and to determine the system response for twenty specified perturbations. In addition, the model was used to study the effectiveness of several control systems in controlling the reactor. It was concluded that control drums located in the moderator region capable of inserting reactivity quickly provided the best control.

Design of a robust control law for the Vega launcher ballistic phase

NASA Astrophysics Data System (ADS)

Valli, Monica; Lavagna, Michèle R.; Panozzo, Thomas

2012-02-01

This work presents the design of a robust control law, and the related control system architecture, for the Vega launcher ballistic phase, taking into account the complete six degrees of freedom dynamics. To gain robustness a non-linear control approach has been preferred: more specifically the Lyapunov's second stability theorem has been exploited, being a very powerful tool to guarantee asymptotic stability of the controlled dynamics. The dynamics of Vega's actuators has also been taken into account. The system performance has been checked and analyzed by numerical simulations run on real mission data for different operational and configuration scenarios, and the effectiveness of the synthesized control highlighted: in particular scenarios including a wide range of composite's inertial configurations performing various typologies of maneuvers have been run. The robustness of the controlled dynamics has been validated by 100 cases Monte Carlo analysis campaign: the containment of the dispersion for the controlled variables - say the composite roll, yaw and pitch angles - confirmed the wide validity and generality of the proposed control law. This paper will show the theoretical approach and discuss the obtained results.

Dynamical Models for Sloshing Dynamics of Helium 2 Under Low-G Conditions

NASA Technical Reports Server (NTRS)

Hung, R. J.; Long, Y. T.

1997-01-01

Coupling of sloshing dynamics within a partially filled rotating dewar of superfluid helium 2 with spacecraft dynamics are investigated in response to the realistic environmental disturbance forces and torques acting on the spacecraft during normal operation. This study investigates: (1) the rotating bubble of superfluid helium 2 reacting to combined environmental disturbances, including gravity gradient, aerodynamic, and magnetic forces and torques; (2) characteristics of slosh reaction forces and torques coupling with spacecraft dynamics; (3) the contribution of slosh dynamics to over-all spacecraft dynamics; and (4) activating of attitude and translation control system. The numerical computation of sloshing dynamics is based on the rotational frame, while the spacecraft dynamics is associated with non-rotational frame. Results show that the contributions of spacecraft dynamics are driven by the environmental disturbances coupling with slosh dynamics. Without considering the effects of environmental disturbances-driven slosh dynamics acting on spacecraft coupling with the spacecraft dynamics may lead to the wrong results for the development of spacecraft system guidance and attitude control techniques.

A hybrid approach to modeling and control of vehicle height for electronically controlled air suspension

NASA Astrophysics Data System (ADS)

Sun, Xiaoqiang; Cai, Yingfeng; Wang, Shaohua; Liu, Yanling; Chen, Long

2016-01-01

The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.

Dynamically controlled crystal growth system

NASA Technical Reports Server (NTRS)

Bray, Terry L. (Inventor); Kim, Larry J. (Inventor); Harrington, Michael (Inventor); DeLucas, Lawrence J. (Inventor)

2002-01-01

Crystal growth can be initiated and controlled by dynamically controlled vapor diffusion or temperature change. In one aspect, the present invention uses a precisely controlled vapor diffusion approach to monitor and control protein crystal growth. The system utilizes a humidity sensor and various interfaces under computer control to effect virtually any evaporation rate from a number of different growth solutions simultaneously by means of an evaporative gas flow. A static laser light scattering sensor can be used to detect aggregation events and trigger a change in the evaporation rate for a growth solution. A control/follower configuration can be used to actively monitor one chamber and accurately control replicate chambers relative to the control chamber. In a second aspect, the invention exploits the varying solubility of proteins versus temperature to control the growth of protein crystals. This system contains miniature thermoelectric devices under microcomputer control that change temperature as needed to grow crystals of a given protein. Complex temperature ramps are possible using this approach. A static laser light scattering probe also can be used in this system as a non-invasive probe for detection of aggregation events. The automated dynamic control system provides systematic and predictable responses with regard to crystal size. These systems can be used for microgravity crystallization projects, for example in a space shuttle, and for crystallization work under terrestial conditions. The present invention is particularly useful for macromolecular crystallization, e.g. for proteins, polypeptides, nucleic acids, viruses and virus particles.

Increasingly automated procedure acquisition in dynamic systems

NASA Technical Reports Server (NTRS)

Mathe, Nathalie; Kedar, Smadar

1992-01-01

Procedures are widely used by operators for controlling complex dynamic systems. Currently, most development of such procedures is done manually, consuming a large amount of paper, time, and manpower in the process. While automated knowledge acquisition is an active field of research, not much attention has been paid to the problem of computer-assisted acquisition and refinement of complex procedures for dynamic systems. The Procedure Acquisition for Reactive Control Assistant (PARC), which is designed to assist users in more systematically and automatically encoding and refining complex procedures. PARC is able to elicit knowledge interactively from the user during operation of the dynamic system. We categorize procedure refinement into two stages: diagnosis - diagnose the failure and choose a repair - and repair - plan and perform the repair. The basic approach taken in PARC is to assist the user in all steps of this process by providing increased levels of assistance with layered tools. We illustrate the operation of PARC in refining procedures for the control of a robot arm.

The control of satellites with microgravity constraints: The COMET Control System

NASA Astrophysics Data System (ADS)

Grossman, Walter; Freesland, Douglas

1994-05-01

The COMET attitude determination and control system, using inverse dynamics and a novel torque distribution/momentum management technique, has shown great flexibility, performance, and robustness. Three-axis control with two wheels is an inherent consequence of inverse dynamics control which allows for reduction in spacecraft weight and cost, or alternatively, provides a simple means of failure-redundancy for three-wheel spacecraft. The control system, without modification, has continued to perform well in spite of large changes in spacecraft mass properties and mission orbit altitude that have occurred during development. This flexibility has obviated imposition of early stringent ADACS design constraints and has greatly reduced commonly incurred ADACS modification costs and delay associated with program maturation.

The control of satellites with microgravity constraints: The COMET Control System

NASA Technical Reports Server (NTRS)

Grossman, Walter; Freesland, Douglas

1994-01-01

The COMET attitude determination and control system, using inverse dynamics and a novel torque distribution/momentum management technique, has shown great flexibility, performance, and robustness. Three-axis control with two wheels is an inherent consequence of inverse dynamics control which allows for reduction in spacecraft weight and cost, or alternatively, provides a simple means of failure-redundancy for three-wheel spacecraft. The control system, without modification, has continued to perform well in spite of large changes in spacecraft mass properties and mission orbit altitude that have occurred during development. This flexibility has obviated imposition of early stringent ADACS design constraints and has greatly reduced commonly incurred ADACS modification costs and delay associated with program maturation.

Periodic or chaotic bursting dynamics via delayed pitchfork bifurcation in a slow-varying controlled system

NASA Astrophysics Data System (ADS)

Yu, Yue; Zhang, Zhengdi; Han, Xiujing

2018-03-01

In this work, we aim to demonstrate the novel routes to periodic and chaotic bursting, i.e., the different bursting dynamics via delayed pitchfork bifurcations around stable attractors, in the classical controlled Lü system. First, by computing the corresponding characteristic polynomial, we determine where some critical values about bifurcation behaviors appear in the Lü system. Moreover, the transition mechanism among different stable attractors has been introduced including homoclinic-type connections or chaotic attractors. Secondly, taking advantage of the above analytical results, we carry out a study of the mechanism for bursting dynamics in the Lü system with slowly periodic variation of certain control parameter. A distinct delayed supercritical pitchfork bifurcation behavior can be discussed when the control item passes through bifurcation points periodically. This delayed dynamical behavior may terminate at different parameter areas, which leads to different spiking modes around different stable attractors (equilibriums, limit cycles, or chaotic attractors). In particular, the chaotic attractor may appear by Shilnikov connections or chaos boundary crisis, which leads to the occurrence of impressive chaotic bursting oscillations. Our findings enrich the study of bursting dynamics and deepen the understanding of some similar sorts of delayed bursting phenomena. Finally, some numerical simulations are included to illustrate the validity of our study.

Control of Crazyflie nano quadcopter using Simulink

NASA Astrophysics Data System (ADS)

Gopabhat Madhusudhan, Meghana

This thesis focuses on developing a mathematical model in Simulink to Crazyflie, an open source platform. Attitude, altitude and position controllers of a Crazyflie are designed in the mathematical model. The mathematical model is developed based on the quadcopter system dynamics using a non-linear approach. The parameters of translational and rotational dynamics of the quadcopter system are linearized and tuned individually. The tuned attitude and altitude controllers from the mathematical model are implemented on real time Crazyflie Simulink model to achieve autonomous and controlled flight.

Non-destructive Faraday imaging of dynamically controlled ultracold atoms

NASA Astrophysics Data System (ADS)

Gajdacz, Miroslav; Pedersen, Poul; Mørch, Troels; Hilliard, Andrew; Arlt, Jan; Sherson, Jacob

2013-05-01

We investigate non-destructive measurements of ultra-cold atomic clouds based on dark field imaging of spatially resolved Faraday rotation. In particular, we pursue applications to dynamically controlled ultracold atoms. The dependence of the Faraday signal on laser detuning, atomic density and temperature is characterized in a detailed comparison with theory. In particular the destructivity per measurement is extremely low and we illustrate this by imaging the same cloud up to 2000 times. The technique is applied to avoid the effect of shot-to-shot fluctuations in atom number calibration. Adding dynamic changes to system parameters, we demonstrate single-run vector magnetic field imaging and single-run spatial imaging of the system's dynamic behavior. The method can be implemented particularly easily in standard imaging systems by the insertion of an extra polarizing beam splitter. These results are steps towards quantum state engineering using feedback control of ultracold atoms.

Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control

NASA Astrophysics Data System (ADS)

Chen, Dechao; Zhang, Yunong

2017-10-01

Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.

The Propulsive Small Expendable Deployer System (ProSEDS)

NASA Technical Reports Server (NTRS)

Lorenzini, Enrico C.; Cosmo, Mario L.; Estes, Robert D.; Sanmartin, Juan; Pelaez, Jesus; Ruiz, Manuel

2003-01-01

This Final Report covers the following main topics: 1) Brief Description of ProSEDS; 2) Mission Analysis; 3) Dynamics Reference Mission; 4) Dynamics Stability; 5) Deployment Control; 6) Updated System Performance; 7) Updated Mission Analysis; 8) Updated Dynamics Reference Mission; 9) Updated Deployment Control Profiles and Simulations; 10) Updated Reference Mission; 11) Evaluation of Power Delivered by the Tether; 12) Deployment Control Profile Ref. #78 and Simulations; 13) Kalman Filters for Mission Estimation; 14) Analysis/Estimation of Deployment Flight Data; 15) Comparison of ED Tethers and Electrical Thrusters; 16) Dynamics Analysis for Mission Starting at a Lower Altitude; 17) Deployment Performance at a Lower Altitude; 18) Satellite Orbit after a Tether Cut; 19) Deployment with Shorter Dyneema Tether Length; 20) Interactive Software for ED Tethers.

Comparisons of several aerodynamic methods for application to dynamic loads analyses

NASA Technical Reports Server (NTRS)

Kroll, R. I.; Miller, R. D.

1976-01-01

The results of a study are presented in which the applicability at subsonic speeds of several aerodynamic methods for predicting dynamic gust loads on aircraft, including active control systems, was examined and compared. These aerodynamic methods varied from steady state to an advanced unsteady aerodynamic formulation. Brief descriptions of the structural and aerodynamic representations and of the motion and load equations are presented. Comparisons of numerical results achieved using the various aerodynamic methods are shown in detail. From these results, aerodynamic representations for dynamic gust analyses are identified. It was concluded that several aerodynamic methods are satisfactory for dynamic gust analyses of configurations having either controls fixed or active control systems that primarily affect the low frequency rigid body aircraft response.

Development and Operation of an Automatic Rotor Trim Control System for the UH-60 Individual Blade Control Wind Tunnel Test

NASA Technical Reports Server (NTRS)

Theodore, Colin R.; Tischler, Mark B.

2010-01-01

An automatic rotor trim control system was developed and successfully used during a wind tunnel test of a full-scale UH-60 rotor system with Individual Blade Control (IBC) actuators. The trim control system allowed rotor trim to be set more quickly, precisely and repeatably than in previous wind tunnel tests. This control system also allowed the rotor trim state to be maintained during transients and drift in wind tunnel flow, and through changes in IBC actuation. The ability to maintain a consistent rotor trim state was key to quickly and accurately evaluating the effect of IBC on rotor performance, vibration, noise and loads. This paper presents details of the design and implementation of the trim control system including the rotor system hardware, trim control requirements, and trim control hardware and software implementation. Results are presented showing the effect of IBC on rotor trim and dynamic response, a validation of the rotor dynamic simulation used to calculate the initial control gains and tuning of the control system, and the overall performance of the trim control system during the wind tunnel test.

Fuel cell-gas turbine hybrid system design part II: Dynamics and control

NASA Astrophysics Data System (ADS)

McLarty, Dustin; Brouwer, Jack; Samuelsen, Scott

2014-05-01

Fuel cell gas turbine hybrid systems have achieved ultra-high efficiency and ultra-low emissions at small scales, but have yet to demonstrate effective dynamic responsiveness or base-load cost savings. Fuel cell systems and hybrid prototypes have not utilized controls to address thermal cycling during load following operation, and have thus been relegated to the less valuable base-load and peak shaving power market. Additionally, pressurized hybrid topping cycles have exhibited increased stall/surge characteristics particularly during off-design operation. This paper evaluates additional control actuators with simple control methods capable of mitigating spatial temperature variation and stall/surge risk during load following operation of hybrid fuel cell systems. The novel use of detailed, spatially resolved, physical fuel cell and turbine models in an integrated system simulation enables the development and evaluation of these additional control methods. It is shown that the hybrid system can achieve greater dynamic response over a larger operating envelope than either individual sub-system; the fuel cell or gas turbine. Results indicate that a combined feed-forward, P-I and cascade control strategy is capable of handling moderate perturbations and achieving a 2:1 (MCFC) or 4:1 (SOFC) turndown ratio while retaining >65% fuel-to-electricity efficiency, while maintaining an acceptable stack temperature profile and stall/surge margin.

Koopman operator theory: Past, present, and future

NASA Astrophysics Data System (ADS)

Brunton, Steven; Kaiser, Eurika; Kutz, Nathan

2017-11-01

Koopman operator theory has emerged as a dominant method to represent nonlinear dynamics in terms of an infinite-dimensional linear operator. The Koopman operator acts on the space of all possible measurement functions of the system state, advancing these measurements with the flow of the dynamics. A linear representation of nonlinear dynamics has tremendous potential to enable the prediction, estimation, and control of nonlinear systems with standard textbook methods developed for linear systems. Dynamic mode decomposition has become the leading data-driven method to approximate the Koopman operator, although there are still open questions and challenges around how to obtain accurate approximations for strongly nonlinear systems. This talk will provide an introductory overview of modern Koopman operator theory, reviewing the basics and describing recent theoretical and algorithmic developments. Particular emphasis will be placed on the use of data-driven Koopman theory to characterize and control high-dimensional fluid dynamic systems. This talk will also address key advances in the rapidly growing fields of machine learning and data science that are likely to drive future developments.

Variable Neural Adaptive Robust Control: A Switched System Approach

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

Lian, Jianming; Hu, Jianghai; Zak, Stanislaw H.

2015-05-01

Variable neural adaptive robust control strategies are proposed for the output tracking control of a class of multi-input multi-output uncertain systems. The controllers incorporate a variable-structure radial basis function (RBF) network as the self-organizing approximator for unknown system dynamics. The variable-structure RBF network solves the problem of structure determination associated with fixed-structure RBF networks. It can determine the network structure on-line dynamically by adding or removing radial basis functions according to the tracking performance. The structure variation is taken into account in the stability analysis of the closed-loop system using a switched system approach with the aid of the piecewisemore » quadratic Lyapunov function. The performance of the proposed variable neural adaptive robust controllers is illustrated with simulations.« less

Reliability of unstable periodic orbit based control strategies in biological systems.

PubMed

Mishra, Nagender; Hasse, Maria; Biswal, B; Singh, Harinder P

2015-04-01

Presence of recurrent and statistically significant unstable periodic orbits (UPOs) in time series obtained from biological systems is now routinely used as evidence for low dimensional chaos. Extracting accurate dynamical information from the detected UPO trajectories is vital for successful control strategies that either aim to stabilize the system near the fixed point or steer the system away from the periodic orbits. A hybrid UPO detection method from return maps that combines topological recurrence criterion, matrix fit algorithm, and stringent criterion for fixed point location gives accurate and statistically significant UPOs even in the presence of significant noise. Geometry of the return map, frequency of UPOs visiting the same trajectory, length of the data set, strength of the noise, and degree of nonstationarity affect the efficacy of the proposed method. Results suggest that establishing determinism from unambiguous UPO detection is often possible in short data sets with significant noise, but derived dynamical properties are rarely accurate and adequate for controlling the dynamics around these UPOs. A repeat chaos control experiment on epileptic hippocampal slices through more stringent control strategy and adaptive UPO tracking is reinterpreted in this context through simulation of similar control experiments on an analogous but stochastic computer model of epileptic brain slices. Reproduction of equivalent results suggests that far more stringent criteria are needed for linking apparent success of control in such experiments with possible determinism in the underlying dynamics.

Reliability of unstable periodic orbit based control strategies in biological systems

NASA Astrophysics Data System (ADS)

Mishra, Nagender; Hasse, Maria; Biswal, B.; Singh, Harinder P.

2015-04-01

Presence of recurrent and statistically significant unstable periodic orbits (UPOs) in time series obtained from biological systems is now routinely used as evidence for low dimensional chaos. Extracting accurate dynamical information from the detected UPO trajectories is vital for successful control strategies that either aim to stabilize the system near the fixed point or steer the system away from the periodic orbits. A hybrid UPO detection method from return maps that combines topological recurrence criterion, matrix fit algorithm, and stringent criterion for fixed point location gives accurate and statistically significant UPOs even in the presence of significant noise. Geometry of the return map, frequency of UPOs visiting the same trajectory, length of the data set, strength of the noise, and degree of nonstationarity affect the efficacy of the proposed method. Results suggest that establishing determinism from unambiguous UPO detection is often possible in short data sets with significant noise, but derived dynamical properties are rarely accurate and adequate for controlling the dynamics around these UPOs. A repeat chaos control experiment on epileptic hippocampal slices through more stringent control strategy and adaptive UPO tracking is reinterpreted in this context through simulation of similar control experiments on an analogous but stochastic computer model of epileptic brain slices. Reproduction of equivalent results suggests that far more stringent criteria are needed for linking apparent success of control in such experiments with possible determinism in the underlying dynamics.

Effective techniques for the identification and accommodation of disturbances

NASA Technical Reports Server (NTRS)

Johnson, C. D.

1989-01-01

The successful control of dynamic systems such as space stations, or launch vehicles, requires a controller design methodology that acknowledges and addresses the disruptive effects caused by external and internal disturbances that inevitably act on such systems. These disturbances, technically defined as uncontrollable inputs, typically vary with time in an uncertain manner and usually cannot be directly measured in real time. A relatively new non-statistical technique for modeling, and (on-line) identification, of those complex uncertain disturbances that are not as erratic and capricious as random noise is described. This technique applies to multi-input cases and to many of the practical disturbances associated with the control of space stations, or launch vehicles. Then, a collection of smart controller design techniques that allow controlled dynamic systems, with possible multi-input controls, to accommodate (cope with) such disturbances with extraordinary effectiveness are associated. These new smart controllers are designed by non-statistical techniques and typically turn out to be unconventional forms of dynamic linear controllers (compensators) with constant coefficients. The simplicity and reliability of linear, constant coefficient controllers is well-known in the aerospace field.

Feedback tracking control for dynamic morphing of piezocomposite actuated flexible wings

NASA Astrophysics Data System (ADS)

Wang, Xiaoming; Zhou, Wenya; Wu, Zhigang

2018-03-01

Aerodynamic properties of flexible wings can be improved via shape morphing using piezocomposite materials. Dynamic shape control of flexible wings is investigated in this study by considering the interactions between structural dynamics, unsteady aerodynamics and piezo-actuations. A novel antisymmetric angle-ply bimorph configuration of piezocomposite actuators is presented to realize coupled bending-torsional shape control. The active aeroelastic model is derived using finite element method and Theodorsen unsteady aerodynamic loads. A time-varying linear quadratic Gaussian (LQG) tracking control system is designed to enhance aerodynamic lift with pre-defined trajectories. Proof-of-concept simulations of static and dynamic shape control are presented for a scaled high-aspect-ratio wing model. Vibrations of the wing and fluctuations in aerodynamic forces are caused by using the static voltages directly in dynamic shape control. The lift response has tracked the trajectories well with favorable dynamic morphing performance via feedback tracking control.

System level modeling and component level control of fuel cells

NASA Astrophysics Data System (ADS)

Xue, Xingjian

This dissertation investigates the fuel cell systems and the related technologies in three aspects: (1) system-level dynamic modeling of both PEM fuel cell (PEMFC) and solid oxide fuel cell (SOFC); (2) condition monitoring scheme development of PEM fuel cell system using model-based statistical method; and (3) strategy and algorithm development of precision control with potential application in energy systems. The dissertation first presents a system level dynamic modeling strategy for PEM fuel cells. It is well known that water plays a critical role in PEM fuel cell operations. It makes the membrane function appropriately and improves the durability. The low temperature operating conditions, however, impose modeling difficulties in characterizing the liquid-vapor two phase change phenomenon, which becomes even more complex under dynamic operating conditions. This dissertation proposes an innovative method to characterize this phenomenon, and builds a comprehensive model for PEM fuel cell at the system level. The model features the complete characterization of multi-physics dynamic coupling effects with the inclusion of dynamic phase change. The model is validated using Ballard stack experimental result from open literature. The system behavior and the internal coupling effects are also investigated using this model under various operating conditions. Anode-supported tubular SOFC is also investigated in the dissertation. While the Nernst potential plays a central role in characterizing the electrochemical performance, the traditional Nernst equation may lead to incorrect analysis results under dynamic operating conditions due to the current reverse flow phenomenon. This dissertation presents a systematic study in this regard to incorporate a modified Nernst potential expression and the heat/mass transfer into the analysis. The model is used to investigate the limitations and optimal results of various operating conditions; it can also be utilized to perform the optimal design of tubular SOFC. With the system-level dynamic model as a basis, a framework for the robust, online monitoring of PEM fuel cell is developed in the dissertation. The monitoring scheme employs the Hotelling T2 based statistical scheme to handle the measurement noise and system uncertainties and identifies the fault conditions through a series of self-checking and conformal testing. A statistical sampling strategy is also utilized to improve the computation efficiency. Fuel/gas flow control is the fundamental operation for fuel cell energy systems. In the final part of the dissertation, a high-precision and robust tracking control scheme using piezoelectric actuator circuit with direct hysteresis compensation is developed. The key characteristic of the developed control algorithm includes the nonlinear continuous control action with the adaptive boundary layer strategy.

Adaptive identification and control of structural dynamics systems using recursive lattice filters

NASA Technical Reports Server (NTRS)

Sundararajan, N.; Montgomery, R. C.; Williams, J. P.

1985-01-01

A new approach for adaptive identification and control of structural dynamic systems by using least squares lattice filters thar are widely used in the signal processing area is presented. Testing procedures for interfacing the lattice filter identification methods and modal control method for stable closed loop adaptive control are presented. The methods are illustrated for a free-free beam and for a complex flexible grid, with the basic control objective being vibration suppression. The approach is validated by using both simulations and experimental facilities available at the Langley Research Center.

SPS attitude control and stationkeeping: Requirements and tradeoffs

NASA Technical Reports Server (NTRS)

Oglevie, R. E.

1980-01-01

The dominant control requirements of solar power satellites change appreciably relative to small contemporary spacecraft. Trade studies and analyses illustrated preferred control approaches. It was found that the geosynchronous equatorial orbit is preferred over the alternative orbits considered, that the solar pressure orbit perturbation dominates stationkeeping propulsion requirements and that a combined AC and SK system using ion electric propulsion can satisfy the attitude control requirements. It was also found that control system/structural dynamic interaction stability can be obtained through frequency separation with reasonable structural dynamic requirements and simplify spacecraft design.

A Blackboard-Based Dynamic Instructional Planner. ONR Final Report.

ERIC Educational Resources Information Center

Murray, William R.

Dynamic instructional planning was explored as a control mechanism for intelligent tutoring systems through the development of the Blackboard Instructional Planner--a blackboard software-based dynamic planner for computerized intelligent tutoring systems. The planner, designed to be generic to tutors teaching troubleshooting for complex physical…

Adaptive fuzzy dynamic surface control of nonlinear systems with input saturation and time-varying output constraints

NASA Astrophysics Data System (ADS)

Edalati, L.; Khaki Sedigh, A.; Aliyari Shooredeli, M.; Moarefianpour, A.

2018-02-01

This paper deals with the design of adaptive fuzzy dynamic surface control for uncertain strict-feedback nonlinear systems with asymmetric time-varying output constraints in the presence of input saturation. To approximate the unknown nonlinear functions and overcome the problem of explosion of complexity, a Fuzzy logic system is combined with the dynamic surface control in the backstepping design technique. To ensure the output constraints satisfaction, an asymmetric time-varying Barrier Lyapunov Function (BLF) is used. Moreover, by applying the minimal learning parameter technique, the number of the online parameters update for each subsystem is reduced to 2. Hence, the semi-globally uniformly ultimately boundedness (SGUUB) of all the closed-loop signals with appropriate tracking error convergence is guaranteed. The effectiveness of the proposed control is demonstrated by two simulation examples.

Assessment of flying-quality criteria for air-breathing aerospacecraft

NASA Technical Reports Server (NTRS)

Mcruer, Duane T.; Myers, Thomas T.; Hoh, Roger H.; Ashkenas, Irving L.; Johnston, Donald E.

1992-01-01

A study of flying quality requirements for air breathing aerospacecraft gives special emphasis to the unusual operational requirements and characteristics of these aircraft, including operation at hypersonic speed. The report considers distinguishing characteristics of these vehicles, including dynamic deficiencies and their implications for control. Particular emphasis is given to the interaction of the airframe and propulsion system, and the requirements for dynamic systems integration. Past operational missions are reviewed to define tasks and maneuvers to be considered for this class of aircraft. Areas of special concern with respect to vehicle dynamics and control are identified. Experience with the space shuttle orbiter is reviewed with respect to flight control system mechanization and flight experience in approach and landing flying qualities for the National Aerospace Plane (NASP).

Kaman 40 kW wind turbine generator - control system dynamics

NASA Technical Reports Server (NTRS)

Perley, R.

1981-01-01

The generator design incorporates an induction generator for application where a utility line is present and a synchronous generator for standalone applications. A combination of feed forward and feedback control is used to achieve synchronous speed prior to connecting the generator to the load, and to control the power level once the generator is connected. The dynamics of the drive train affect several aspects of the system operation. These were analyzed to arrive at the required shaft stiffness. The rotor parameters that affect the stability of the feedback control loop vary considerably over the wind speed range encountered. Therefore, the controller gain was made a function of wind speed in order to maintain consistent operation over the whole wind speed range. The velocity requirement for the pitch control mechanism is related to the nature of the wind gusts to be encountered, the dynamics of the system, and the acceptable power fluctuations and generator dropout rate. A model was developed that allows the probable dropout rate to be determined from a statistical model of wind gusts and the various system parameters, including the acceptable power fluctuation.

Hamiltonian quantum simulation with bounded-strength controls

NASA Astrophysics Data System (ADS)

Bookatz, Adam D.; Wocjan, Pawel; Viola, Lorenza

2014-04-01

We propose dynamical control schemes for Hamiltonian simulation in many-body quantum systems that avoid instantaneous control operations and rely solely on realistic bounded-strength control Hamiltonians. Each simulation protocol consists of periodic repetitions of a basic control block, constructed as a modification of an ‘Eulerian decoupling cycle,’ that would otherwise implement a trivial (zero) target Hamiltonian. For an open quantum system coupled to an uncontrollable environment, our approach may be employed to engineer an effective evolution that simulates a target Hamiltonian on the system while suppressing unwanted decoherence to the leading order, thereby allowing for dynamically corrected simulation. We present illustrative applications to both closed- and open-system simulation settings, with emphasis on simulation of non-local (two-body) Hamiltonians using only local (one-body) controls. In particular, we provide simulation schemes applicable to Heisenberg-coupled spin chains exposed to general linear decoherence, and show how to simulate Kitaev's honeycomb lattice Hamiltonian starting from Ising-coupled qubits, as potentially relevant to the dynamical generation of a topologically protected quantum memory. Additional implications for quantum information processing are discussed.

Operational characterisation of requirements and early validation environment for high demanding space systems

NASA Technical Reports Server (NTRS)

Barro, E.; Delbufalo, A.; Rossi, F.

1993-01-01

The definition of some modern high demanding space systems requires a different approach to system definition and design from that adopted for traditional missions. System functionality is strongly coupled to the operational analysis, aimed at characterizing the dynamic interactions of the flight element with its surrounding environment and its ground control segment. Unambiguous functional, operational and performance requirements are to be defined for the system, thus improving also the successive development stages. This paper proposes a Petri Nets based methodology and two related prototype applications (to ARISTOTELES orbit control and to Hermes telemetry generation) for the operational analysis of space systems through the dynamic modeling of their functions and a related computer aided environment (ISIDE) able to make the dynamic model work, thus enabling an early validation of the system functional representation, and to provide a structured system requirements data base, which is the shared knowledge base interconnecting static and dynamic applications, fully traceable with the models and interfaceable with the external world.

Annular suspension and pointing system with controlled DC electromagnets

NASA Technical Reports Server (NTRS)

Vu, Josephine Lynn; Tam, Kwok Hung

1993-01-01

The Annular Suspension and Pointing System (ASPS) developed by the Flight System division of Sperry Corporation is a six-degree of freedom payload pointing system designed for use with the space shuttle. This magnetic suspension and pointing system provides precise controlled pointing in six-degrees of freedom, isolation of payload-carrier disturbances, and end mount controlled pointing. Those are great advantages over the traditional mechanical joints for space applications. In this design, we first analyzed the assumed model of the single degree ASPS bearing actuator and obtained the plant dynamics equations. By linearizing the plant dynamics equations, we designed the cascade and feedback compensators such that a stable and satisfied result was obtained. The specified feedback compensator was computer simulated with the nonlinearized plant dynamics equations. The results indicated that an unstable output occurred. In other words, the designed feedback compensator failed. The failure of the design is due to the Taylor's series expansion not converging.

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.

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Koningstein, Ross

1990-01-01

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Adaptive fuzzy dynamic surface control for the chaotic permanent magnet synchronous motor using Nussbaum gain

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

Luo, Shaohua

This paper is concerned with the problem of adaptive fuzzy dynamic surface control (DSC) for the permanent magnet synchronous motor (PMSM) system with chaotic behavior, disturbance and unknown control gain and parameters. Nussbaum gain is adopted to cope with the situation that the control gain is unknown. And the unknown items can be estimated by fuzzy logic system. The proposed controller guarantees that all the signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal. Finally, the numerical simulations indicate that the proposed scheme can suppress the chaosmore » of PMSM and show the effectiveness and robustness of the proposed method.« less

Adaptive fuzzy dynamic surface control for the chaotic permanent magnet synchronous motor using Nussbaum gain.

PubMed

Luo, Shaohua

2014-09-01

This paper is concerned with the problem of adaptive fuzzy dynamic surface control (DSC) for the permanent magnet synchronous motor (PMSM) system with chaotic behavior, disturbance and unknown control gain and parameters. Nussbaum gain is adopted to cope with the situation that the control gain is unknown. And the unknown items can be estimated by fuzzy logic system. The proposed controller guarantees that all the signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal. Finally, the numerical simulations indicate that the proposed scheme can suppress the chaos of PMSM and show the effectiveness and robustness of the proposed method.

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.

Robust Structural Analysis and Design of Distributed Control Systems to Prevent Zero Dynamics Attacks

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

Weerakkody, Sean; Liu, Xiaofei; Sinopoli, Bruno

We consider the design and analysis of robust distributed control systems (DCSs) to ensure the detection of integrity attacks. DCSs are often managed by independent agents and are implemented using a diverse set of sensors and controllers. However, the heterogeneous nature of DCSs along with their scale leave such systems vulnerable to adversarial behavior. To mitigate this reality, we provide tools that allow operators to prevent zero dynamics attacks when as many as p agents and sensors are corrupted. Such a design ensures attack detectability in deterministic systems while removing the threat of a class of stealthy attacks in stochasticmore » systems. To achieve this goal, we use graph theory to obtain necessary and sufficient conditions for the presence of zero dynamics attacks in terms of the structural interactions between agents and sensors. We then formulate and solve optimization problems which minimize communication networks while also ensuring a resource limited adversary cannot perform a zero dynamics attacks. Polynomial time algorithms for design and analysis are provided.« less

A dynamic motion simulator for future European docking systems

NASA Technical Reports Server (NTRS)

Brondino, G.; Marchal, PH.; Grimbert, D.; Noirault, P.

1990-01-01

Europe's first confrontation with docking in space will require extensive testing to verify design and performance and to qualify hardware. For this purpose, a Docking Dynamics Test Facility (DDTF) was developed. It allows reproduction on the ground of the same impact loads and relative motion dynamics which would occur in space during docking. It uses a 9 degree of freedom, servo-motion system, controlled by a real time computer, which simulates the docking spacecraft in a zero-g environment. The test technique involves and active loop based on six axis force and torque detection, a mathematical simulation of individual spacecraft dynamics, and a 9 degree of freedom servomotion of which 3 DOFs allow extension of the kinematic range to 5 m. The configuration was checked out by closed loop tests involving spacecraft control models and real sensor hardware. The test facility at present has an extensive configuration that allows evaluation of both proximity control and docking systems. It provides a versatile tool to verify system design, hardware items and performance capabilities in the ongoing HERMES and COLUMBUS programs. The test system is described and its capabilities are summarized.

Towards Quantum Cybernetics:. Optimal Feedback Control in Quantum Bio Informatics

NASA Astrophysics Data System (ADS)

Belavkin, V. P.

2009-02-01

A brief account of the quantum information dynamics and dynamical programming methods for the purpose of optimal control in quantum cybernetics with convex constraints and cońcave cost and bequest functions of the quantum state is given. Consideration is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme with continuous observations we exploit the separation theorem of filtering and control aspects for quantum stochastic micro-dynamics of the total system. This allows to start with the Belavkin quantum filtering equation and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to only Hamiltonian terms in the filtering equation. A controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.

Multiloop Manual Control of Dynamic Systems

NASA Technical Reports Server (NTRS)

Hess, R. A.; Mcnally, B. D.

1984-01-01

Human interaction with a simple, multiloop dynamic system in which the human's activity was systematically varied by changing the levels of automation was studied. The control loop structure resulting from the task definition parallels that for any multiloop manual control system, is considered a sterotype. Simple models of the human in the task, and upon extending a technique for describing the manner in which the human subjectively quantifies his opinion of task difficulty were developed. A man in the loop simulation which provides data to support and direct the analytical effort is presented.

Dynamics and control of three-body tethered system in large elliptic orbits

NASA Astrophysics Data System (ADS)

Shi, Gefei; Zhu, Zhanxia; Zhu, Zheng H.

2018-03-01

This paper investigates the dynamic characteristics a three-body tethered satellite system in large elliptic orbits and the control strategy to suppress the libration of the system in orbital transfer process. The system is modeled by a two-piece dumbbell model in the domain of true anomaly. The model consists of one main satellite and two subsatellites connected with two straight, massless and inextensible tethers. Two control strategies based on the sliding mode control are developed to control the libration to the zero state and the steady state respectively. The results of numerical simulations show that the proposed control scheme has good performance in controlling the libration motion of a three-body tethered satellite system in an elliptic orbit with large eccentricity by limited control inputs. Furthermore, Hamiltonians in both states are examined and it shows that less control input is required to control the libration motion to the steady state than that of zero state.

Linearized aerodynamic and control law models of the X-29A airplane and comparison with flight data

NASA Technical Reports Server (NTRS)

Bosworth, John T.

1992-01-01

Flight control system design and analysis for aircraft rely on mathematical models of the vehicle dynamics. In addition to a six degree of freedom nonlinear simulation, the X-29A flight controls group developed a set of programs that calculate linear perturbation models throughout the X-29A flight envelope. The models include the aerodynamics as well as flight control system dynamics and were used for stability, controllability, and handling qualities analysis. These linear models were compared to flight test results to help provide a safe flight envelope expansion. A description is given of the linear models at three flight conditions and two flight control system modes. The models are presented with a level of detail that would allow the reader to reproduce the linear results if desired. Comparison between the response of the linear model and flight measured responses are presented to demonstrate the strengths and weaknesses of the linear models' ability to predict flight dynamics.

A battery-run pulsed motor with inherent dynamic electronic switch control

NASA Astrophysics Data System (ADS)

Tripathi, K. C.; Lal, P.; Sarma, P. R.; Sharma, A. K.; Prakash, V.

1980-02-01

A new type of battery-run brushless ferrite-magnet dc motor system is described. Its rotor part consists of a few permanent ceramic (ferrite) magnets uniformly spread on the rim of a disk (wheel) and the stator part consists of electromagnets placed in such a way that when energized, they always form a repulsive couple to rotate the disk. A sensor coil is placed to give an induced pulse signal, which acts as an inherent dynamic switching time control for the automatic electronic control system. Control of speed, brake system, and safety measures are also discussed. Experimental values for the present system are given. Some possible applications are suggested.

An application of high authority/low authority control and positivity

NASA Technical Reports Server (NTRS)

Seltzer, S. M.; Irwin, D.; Tollison, D.; Waites, H. B.

1988-01-01

Control Dynamics Company (CDy), in conjunction with NASA Marshall Space Flight Center (MSFC), has supported the U.S. Air Force Wright Aeronautical Laboratory (AFWAL) in conducting an investigation of the implementation of several DOD controls techniques. These techniques are to provide vibration suppression and precise attitude control for flexible space structures. AFWAL issued a contract to Control Dynamics to perform this work under the Active Control Technique Evaluation for Spacecraft (ACES) Program. The High Authority Control/Low Authority Control (HAC/LAC) and Positivity controls techniques, which were cultivated under the DARPA Active Control of Space Structures (ACOSS) Program, were applied to a structural model of the NASA/MSFC Ground Test Facility ACES configuration. The control systems design were accomplished and linear post-analyses of the closed-loop systems are provided. The control system designs take into account effects of sampling and delay in the control computer. Nonlinear simulation runs were used to verify the control system designs and implementations in the facility control computers. Finally, test results are given to verify operations of the control systems in the test facility.

A self-learning rule base for command following in dynamical systems

NASA Technical Reports Server (NTRS)

Tsai, Wei K.; Lee, Hon-Mun; Parlos, Alexander

1992-01-01

In this paper, a self-learning Rule Base for command following in dynamical systems is presented. The learning is accomplished though reinforcement learning using an associative memory called SAM. The main advantage of SAM is that it is a function approximator with explicit storage of training samples. A learning algorithm patterned after the dynamic programming is proposed. Two artificially created, unstable dynamical systems are used for testing, and the Rule Base was used to generate a feedback control to improve the command following ability of the otherwise uncontrolled systems. The numerical results are very encouraging. The controlled systems exhibit a more stable behavior and a better capability to follow reference commands. The rules resulting from the reinforcement learning are explicitly stored and they can be modified or augmented by human experts. Due to overlapping storage scheme of SAM, the stored rules are similar to fuzzy rules.

Detection and control of combustion instability based on the concept of dynamical system theory.

PubMed

Gotoda, Hiroshi; Shinoda, Yuta; Kobayashi, Masaki; Okuno, Yuta; Tachibana, Shigeru

2014-02-01

We propose an online method of detecting combustion instability based on the concept of dynamical system theory, including the characterization of the dynamic behavior of combustion instability. As an important case study relevant to combustion instability encountered in fundamental and practical combustion systems, we deal with the combustion dynamics close to lean blowout (LBO) in a premixed gas-turbine model combustor. The relatively regular pressure fluctuations generated by thermoacoustic oscillations transit to low-dimensional intermittent chaos owing to the intermittent appearance of burst with decreasing equivalence ratio. The translation error, which is characterized by quantifying the degree of parallelism of trajectories in the phase space, can be used as a control variable to prevent LBO.

Detection and control of combustion instability based on the concept of dynamical system theory

NASA Astrophysics Data System (ADS)

Gotoda, Hiroshi; Shinoda, Yuta; Kobayashi, Masaki; Okuno, Yuta; Tachibana, Shigeru

2014-02-01

We propose an online method of detecting combustion instability based on the concept of dynamical system theory, including the characterization of the dynamic behavior of combustion instability. As an important case study relevant to combustion instability encountered in fundamental and practical combustion systems, we deal with the combustion dynamics close to lean blowout (LBO) in a premixed gas-turbine model combustor. The relatively regular pressure fluctuations generated by thermoacoustic oscillations transit to low-dimensional intermittent chaos owing to the intermittent appearance of burst with decreasing equivalence ratio. The translation error, which is characterized by quantifying the degree of parallelism of trajectories in the phase space, can be used as a control variable to prevent LBO.

Hydraulic dynamic analysis

NASA Technical Reports Server (NTRS)

Gale, R. L.; Nease, A. W.; Nelson, D. J.

1978-01-01

Computer program mathematically describes complete hydraulic systems to study their dynamic performance. Program employs subroutines that simulate components of hydraulic system, which are then controlled by main program. Program is useful to engineers working with detailed performance results of aircraft, spacecraft, or similar hydraulic systems.

The optimal dynamic immunization under a controlled heterogeneous node-based SIRS model

NASA Astrophysics Data System (ADS)

Yang, Lu-Xing; Draief, Moez; Yang, Xiaofan

2016-05-01

Dynamic immunizations, under which the state of the propagation network of electronic viruses can be changed by adjusting the control measures, are regarded as an alternative to static immunizations. This paper addresses the optimal dynamical immunization under the widely accepted SIRS assumption. First, based on a controlled heterogeneous node-based SIRS model, an optimal control problem capturing the optimal dynamical immunization is formulated. Second, the existence of an optimal dynamical immunization scheme is shown, and the corresponding optimality system is derived. Next, some numerical examples are given to show that an optimal immunization strategy can be worked out by numerically solving the optimality system, from which it is found that the network topology has a complex impact on the optimal immunization strategy. Finally, the difference between a payoff and the minimum payoff is estimated in terms of the deviation of the corresponding immunization strategy from the optimal immunization strategy. The proposed optimal immunization scheme is justified, because it can achieve a low level of infections at a low cost.

Integrated health management and control of complex dynamical systems

NASA Astrophysics Data System (ADS)

Tolani, Devendra K.

2005-11-01

A comprehensive control and health management strategy for human-engineered complex dynamical systems is formulated for achieving high performance and reliability over a wide range of operation. Results from diverse research areas such as Probabilistic Robust Control (PRC), Damage Mitigating/Life Extending Control (DMC), Discrete Event Supervisory (DES) Control, Symbolic Time Series Analysis (STSA) and Health and Usage Monitoring System (HUMS) have been employed to achieve this goal. Continuous-domain control modules at the lower level are synthesized by PRC and DMC theories, whereas the upper-level supervision is based on DES control theory. In the PRC approach, by allowing different levels of risk under different flight conditions, the control system can achieve the desired trade off between stability robustness and nominal performance. In the DMC approach, component damage is incorporated in the control law to reduce the damage rate for enhanced structural durability. The DES controller monitors the system performance and, based on the mission requirements (e.g., performance metrics and level of damage mitigation), switches among various lower-level controllers. The core idea is to design a framework where the DES controller at the upper-level, mimics human intelligence and makes appropriate decisions to satisfy mission requirements, enhance system performance and structural durability. Recently developed tools in STSA have been used for anomaly detection and failure prognosis. The DMC deals with the usage monitoring or operational control part of health management, where as the issue of health monitoring is addressed by the anomaly detection tools. The proposed decision and control architecture has been validated on two test-beds, simulating the operations of rotorcraft dynamics and aircraft propulsion.

Research Based on AMESim of Electro-hydraulic Servo Loading System

NASA Astrophysics Data System (ADS)

Li, Jinlong; Hu, Zhiyong

2017-09-01

Electro-hydraulic servo loading system is a subject studied by many scholars in the field of simulation and control at home and abroad. The electro-hydraulic servo loading system is a loading device simulation of stress objects by aerodynamic moment and other force in the process of movement, its function is all kinds of gas in the lab condition to analyze stress under dynamic load of objects. The purpose of this paper is the design of AMESim electro-hydraulic servo system, PID control technology is used to configure the parameters of the control system, complete the loading process under different conditions, the optimal design parameters, optimization of dynamic performance of the loading system.

Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches

PubMed Central

Zhang, Dan; Wei, Bin

2017-01-01

Currently, the uses of robotics are limited with respect to performance capabilities. Improving the performance of robotic mechanisms is and still will be the main research topic in the next decade. In this paper, design and integration for improving performance of robotic systems are achieved through three different approaches, i.e., structure synthesis design approach, dynamic balancing approach, and adaptive control approach. The purpose of robotic mechanism structure synthesis design is to propose certain mechanism that has better kinematic and dynamic performance as compared to the old ones. For the dynamic balancing design approach, it is normally accomplished based on employing counterweights or counter-rotations. The potential issue is that more weight and inertia will be included in the system. Here, reactionless based on the reconfiguration concept is put forward, which can address the mentioned problem. With the mechanism reconfiguration, the control system needs to be adapted thereafter. One way to address control system adaptation is by applying the “divide and conquer” methodology. It entails modularizing the functionalities: breaking up the control functions into small functional modules, and from those modules assembling the control system according to the changing needs of the mechanism. PMID:28075360

Civil (French/US) certification of the Coast Guard's HH-65A Dauphin

NASA Technical Reports Server (NTRS)

Hart, J. C.; Besse, J. M.; Mcelreath, K. W.

1982-01-01

Certification programs with particular emphasis on handling qualities requirements are described. A dynamic simulator was designed and constructed to support and verify the dynamic aspects of the avionics system, particularly the Automatic Flight Control System (AFCS). The role of the Dynamic Simulator is discussed.

Neural network based adaptive control for nonlinear dynamic regimes

NASA Astrophysics Data System (ADS)

Shin, Yoonghyun

Adaptive control designs using neural networks (NNs) based on dynamic inversion are investigated for aerospace vehicles which are operated at highly nonlinear dynamic regimes. NNs play a key role as the principal element of adaptation to approximately cancel the effect of inversion error, which subsequently improves robustness to parametric uncertainty and unmodeled dynamics in nonlinear regimes. An adaptive control scheme previously named 'composite model reference adaptive control' is further developed so that it can be applied to multi-input multi-output output feedback dynamic inversion. It can have adaptive elements in both the dynamic compensator (linear controller) part and/or in the conventional adaptive controller part, also utilizing state estimation information for NN adaptation. This methodology has more flexibility and thus hopefully greater potential than conventional adaptive designs for adaptive flight control in highly nonlinear flight regimes. The stability of the control system is proved through Lyapunov theorems, and validated with simulations. The control designs in this thesis also include the use of 'pseudo-control hedging' techniques which are introduced to prevent the NNs from attempting to adapt to various actuation nonlinearities such as actuator position and rate saturations. Control allocation is introduced for the case of redundant control effectors including thrust vectoring nozzles. A thorough comparison study of conventional and NN-based adaptive designs for a system under a limit cycle, wing-rock, is included in this research, and the NN-based adaptive control designs demonstrate their performances for two highly maneuverable aerial vehicles, NASA F-15 ACTIVE and FQM-117B unmanned aerial vehicle (UAV), operated under various nonlinearities and uncertainties.

Far-IR transparency and dynamic infrared signature control with novel conducting polymer systems

NASA Astrophysics Data System (ADS)

Chandrasekhar, Prasanna; Dooley, T. J.

1995-09-01

Materials which possess transparency, coupled with active controllability of this transparency in the infrared (IR), are today an increasingly important requirement, for varied applications. These applications include windows for IR sensors, IR-region flat panel displays used in camouflage as well as in communication and sight through night-vision goggles, coatings with dynamically controllable IR-emissivity, and thermal conservation coatings. Among stringent requirements for these applications are large dynamic ranges (color contrast), 'multi-color' or broad-band characteristics, extended cyclability, long memory retention, matrix addressability, small area fabricability, low power consumption, and environmental stability. Among materials possessing the requirements for variation of IR signature, conducting polymers (CPs) appear to be the only materials with dynamic, actively controllable signature and acceptable dynamic range. Conventional CPs such as poly(alkyl thiophene), poly(pyrrole) or poly(aniline) show very limited dynamic range, especially in the far-IR, while also showing poor transparency. We have developed a number of novel CP systems ('system' implying the CP, the selected dopant, the synthesis method, and the electrolyte) with very wide dynamic range (up to 90% in both important IR regions, 3 - 5 (mu) and 8 - 12 (mu) ), high cyclability (to 105 cycles with less than 10% optical degradation), nearly indefinite optical memory retention, matrix addressability of multi-pixel displays, very wide operating temperature and excellent environmental stability, low charge capacity, and processability into areas from less than 1 mm2 to more than 100 cm2. The criteria used to design and arrive at these CP systems, together with representative IR signature data, are presented in this paper.

Fast Dynamic Simulation-Based Small Signal Stability Assessment and Control

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

Acharya, Naresh; Baone, Chaitanya; Veda, Santosh

2014-12-31

Power grid planning and operation decisions are made based on simulation of the dynamic behavior of the system. Enabling substantial energy savings while increasing the reliability of the aging North American power grid through improved utilization of existing transmission assets hinges on the adoption of wide-area measurement systems (WAMS) for power system stabilization. However, adoption of WAMS alone will not suffice if the power system is to reach its full entitlement in stability and reliability. It is necessary to enhance predictability with "faster than real-time" dynamic simulations that will enable the dynamic stability margins, proactive real-time control, and improve gridmore » resiliency to fast time-scale phenomena such as cascading network failures. Present-day dynamic simulations are performed only during offline planning studies, considering only worst case conditions such as summer peak, winter peak days, etc. With widespread deployment of renewable generation, controllable loads, energy storage devices and plug-in hybrid electric vehicles expected in the near future and greater integration of cyber infrastructure (communications, computation and control), monitoring and controlling the dynamic performance of the grid in real-time would become increasingly important. The state-of-the-art dynamic simulation tools have limited computational speed and are not suitable for real-time applications, given the large set of contingency conditions to be evaluated. These tools are optimized for best performance of single-processor computers, but the simulation is still several times slower than real-time due to its computational complexity. With recent significant advances in numerical methods and computational hardware, the expectations have been rising towards more efficient and faster techniques to be implemented in power system simulators. This is a natural expectation, given that the core solution algorithms of most commercial simulators were developed decades ago, when High Performance Computing (HPC) resources were not commonly available.« less

Dynamic output feedback control of a flexible air-breathing hypersonic vehicle via T-S fuzzy approach

NASA Astrophysics Data System (ADS)

Hu, Xiaoxiang; Wu, Ligang; Hu, Changhua; Wang, Zhaoqiang; Gao, Huijun

2014-08-01

By utilising Takagi-Sugeno (T-S) fuzzy set approach, this paper addresses the robust H∞ dynamic output feedback control for the non-linear longitudinal model of flexible air-breathing hypersonic vehicles (FAHVs). The flight control of FAHVs is highly challenging due to the unique dynamic characteristics, and the intricate couplings between the engine and fight dynamics and external disturbance. Because of the dynamics' enormous complexity, currently, only the longitudinal dynamics models of FAHVs have been used for controller design. In this work, T-S fuzzy modelling technique is utilised to approach the non-linear dynamics of FAHVs, then a fuzzy model is developed for the output tracking problem of FAHVs. The fuzzy model contains parameter uncertainties and disturbance, which can approach the non-linear dynamics of FAHVs more exactly. The flexible models of FAHVs are difficult to measure because of the complex dynamics and the strong couplings, thus a full-order dynamic output feedback controller is designed for the fuzzy model. A robust H∞ controller is designed for the obtained closed-loop system. By utilising the Lyapunov functional approach, sufficient solvability conditions for such controllers are established in terms of linear matrix inequalities. Finally, the effectiveness of the proposed T-S fuzzy dynamic output feedback control method is demonstrated by numerical simulations.

Distributed cooperative control of AC microgrids

NASA Astrophysics Data System (ADS)

Bidram, Ali

In this dissertation, the comprehensive secondary control of electric power microgrids is of concern. Microgrid technical challenges are mainly realized through the hierarchical control structure, including primary, secondary, and tertiary control levels. Primary control level is locally implemented at each distributed generator (DG), while the secondary and tertiary control levels are conventionally implemented through a centralized control structure. The centralized structure requires a central controller which increases the reliability concerns by posing the single point of failure. In this dissertation, the distributed control structure using the distributed cooperative control of multi-agent systems is exploited to increase the secondary control reliability. The secondary control objectives are microgrid voltage and frequency, and distributed generators (DGs) active and reactive powers. Fully distributed control protocols are implemented through distributed communication networks. In the distributed control structure, each DG only requires its own information and the information of its neighbors on the communication network. The distributed structure obviates the requirements for a central controller and complex communication network which, in turn, improves the system reliability. Since the DG dynamics are nonlinear and non-identical, input-output feedback linearization is used to transform the nonlinear dynamics of DGs to linear dynamics. Proposed control frameworks cover the control of microgrids containing inverter-based DGs. Typical microgrid test systems are used to verify the effectiveness of the proposed control protocols.

Dynamic Characteristics of Human Motor Performance in Control Systems.

DTIC Science & Technology

1979-01-01

h drynontrol system . Several lines of inves ___ igaion avebee use inaddiionto nputoutut sudis wth hmansubets LI.- 7 Th (nulreycmriigifrainfosusl...TAB Untjc. ao un c ’ n TTci St rLi b DYNAMIC CHARACTERISTICS OF HUMAN MOTOR PERFORMANCE IN CONTROL SYSTEMS %iOSRTR. 8-0 76 0 Ar3) -O75 -8’O’f FINAL...whereby motor patterns are represented in the nervous system . Findings include a detailing of linear and non-linear features of motor activity in

Time delays in flight simulator visual displays

NASA Technical Reports Server (NTRS)

Crane, D. F.

1980-01-01

It is pointed out that the effects of delays of less than 100 msec in visual displays on pilot dynamic response and system performance are of particular interest at this time because improvements in the latest computer-generated imagery (CGI) systems are expected to reduce CGI displays delays to this range. Attention is given to data which quantify the effects of display delays in the range of 0-100 msec on system stability and performance, and pilot dynamic response for a particular choice of aircraft dynamics, display, controller, and task. The conventional control system design methods are reviewed, the pilot response data presented, and data for long delays, all suggest lead filter compensation of display delay. Pilot-aircraft system crossover frequency information guides compensation filter specification.

Fuzzy logic-based flight control system design

NASA Astrophysics Data System (ADS)

Nho, Kyungmoon

The application of fuzzy logic to aircraft motion control is studied in this dissertation. The self-tuning fuzzy techniques are developed by changing input scaling factors to obtain a robust fuzzy controller over a wide range of operating conditions and nonlinearities for a nonlinear aircraft model. It is demonstrated that the properly adjusted input scaling factors can meet the required performance and robustness in a fuzzy controller. For a simple demonstration of the easy design and control capability of a fuzzy controller, a proportional-derivative (PD) fuzzy control system is compared to the conventional controller for a simple dynamical system. This thesis also describes the design principles and stability analysis of fuzzy control systems by considering the key features of a fuzzy control system including the fuzzification, rule-base and defuzzification. The wing-rock motion of slender delta wings, a linear aircraft model and the six degree of freedom nonlinear aircraft dynamics are considered to illustrate several self-tuning methods employing change in input scaling factors. Finally, this dissertation is concluded with numerical simulation of glide-slope capture in windshear demonstrating the robustness of the fuzzy logic based flight control system.

Prospects for engineering dynamic CRISPR-Cas transcriptional circuits to improve bioproduction.

PubMed

Fontana, Jason; Voje, William E; Zalatan, Jesse G; Carothers, James M

2018-05-08

Dynamic control of gene expression is emerging as an important strategy for controlling flux in metabolic pathways and improving bioproduction of valuable compounds. Integrating dynamic genetic control tools with CRISPR-Cas transcriptional regulation could significantly improve our ability to fine-tune the expression of multiple endogenous and heterologous genes according to the state of the cell. In this mini-review, we combine an analysis of recent literature with examples from our own work to discuss the prospects and challenges of developing dynamically regulated CRISPR-Cas transcriptional control systems for applications in synthetic biology and metabolic engineering.

Dynamic Control of Plans with Temporal Uncertainty

NASA Technical Reports Server (NTRS)

Morris, Paul; Muscettola, Nicola; Vidal, Thierry

2001-01-01

Certain planning systems that deal with quantitative time constraints have used an underlying Simple Temporal Problem solver to ensure temporal consistency of plans. However, many applications involve processes of uncertain duration whose timing cannot be controlled by the execution agent. These cases require more complex notions of temporal feasibility. In previous work, various "controllability" properties such as Weak, Strong, and Dynamic Controllability have been defined. The most interesting and useful Controllability property, the Dynamic one, has ironically proved to be the most difficult to analyze. In this paper, we resolve the complexity issue for Dynamic Controllability. Unexpectedly, the problem turns out to be tractable. We also show how to efficiently execute networks whose status has been verified.

Performance Characterization, Development, and Application of Artificial Potential Function Guidance Methods

DTIC Science & Technology

2014-03-01

to determine if a system is stabilizable with feedback. 12 that asymptotic stability is guaranteed by Lyapunov theory. The advantage of this method are...discretized dynamics are a sufficient representation of the continuous system . Given these assumptions, the optimal control problem for minimum transit time is...tion (APF) guidance performance when applied to systems with limited control au- thority in a dynamic environment and then to use the findings to

Adaptive backstepping control of train systems with traction/braking dynamics and uncertain resistive forces

NASA Astrophysics Data System (ADS)

Song, Qi; Song, Y. D.; Cai, Wenchuan

2011-09-01

Although backstepping control design approach has been widely utilised in many practical systems, little effort has been made in applying this useful method to train systems. The main purpose of this paper is to apply this popular control design technique to speed and position tracking control of high-speed trains. By integrating adaptive control with backstepping control, we develop a control scheme that is able to address not only the traction and braking dynamics ignored in most existing methods, but also the uncertain friction and aerodynamic drag forces arisen from uncertain resistance coefficients. As such, the resultant control algorithms are able to achieve high precision train position and speed tracking under varying operation railway conditions, as validated by theoretical analysis and numerical simulations.

Flying qualities and control system characteristics for superaugmented aircraft

NASA Technical Reports Server (NTRS)

Myers, T. T.; Mcruer, D. T.; Johnston, D. E.

1984-01-01

Aircraft-alone dynamics and superaugmented control system fundamental regulatory properties including stability and regulatory responses of the basic closed-loop systems; fundamental high and low frequency margins and governing factors; and sensitivity to aircraft and controller parameters are addressed. Alternative FCS mechanizations, and mechanizational side effects are also discussed. An overview of flying qualities considerations encompasses general pilot operations as a controller in unattended, intermittent and trim, and full-attention regulatory or command control; effective vehicle primary and secondary response properties to pilot inputs and disturbances; pilot control architectural possibilities; and comparison of superaugmented and conventional aircraft path responses for different forms of pilot control. Results of a simple experimental investigation into pilot dynamic behavior in attitude control of superaugmented aircraft configurations with high frequency time laps and time delays are presented.

Direct Optimal Control of Duffing Dynamics

NASA Technical Reports Server (NTRS)

Oz, Hayrani; Ramsey, John K.

2002-01-01

The "direct control method" is a novel concept that is an attractive alternative and competitor to the differential-equation-based methods. The direct method is equally well applicable to nonlinear, linear, time-varying, and time-invariant systems. For all such systems, the method yields explicit closed-form control laws based on minimization of a quadratic control performance measure. We present an application of the direct method to the dynamics and optimal control of the Duffing system where the control performance measure is not restricted to a quadratic form and hence may include a quartic energy term. The results we present in this report also constitute further generalizations of our earlier work in "direct optimal control methodology." The approach is demonstrated for the optimal control of the Duffing equation with a softening nonlinear stiffness.

Distributed finite-time containment control for double-integrator multiagent systems.

PubMed

Wang, Xiangyu; Li, Shihua; Shi, Peng

2014-09-01

In this paper, the distributed finite-time containment control problem for double-integrator multiagent systems with multiple leaders and external disturbances is discussed. In the presence of multiple dynamic leaders, by utilizing the homogeneous control technique, a distributed finite-time observer is developed for the followers to estimate the weighted average of the leaders' velocities at first. Then, based on the estimates and the generalized adding a power integrator approach, distributed finite-time containment control algorithms are designed to guarantee that the states of the followers converge to the dynamic convex hull spanned by those of the leaders in finite time. Moreover, as a special case of multiple dynamic leaders with zero velocities, the proposed containment control algorithms also work for the case of multiple stationary leaders without using the distributed observer. Simulations demonstrate the effectiveness of the proposed control algorithms.

A Preliminary Data Model for Orbital Flight Dynamics in Shuttle Mission Control

NASA Technical Reports Server (NTRS)

ONeill, John; Shalin, Valerie L.

2000-01-01

The Orbital Flight Dynamics group in Shuttle Mission Control is investigating new user interfaces in a project called RIOTS [RIOTS 2000]. Traditionally, the individual functions of hardware and software guide the design of displays, which results in an aggregated, if not integrated interface. The human work system has then been designed and trained to navigate, operate and integrate the processors and displays. The aim of RIOTS is to reduce the cognitive demands of the flight controllers by redesigning the user interface to support the work of the flight controller. This document supports the RIOTS project by defining a preliminary data model for Orbital Flight Dynamics. Section 2 defines an information-centric perspective. An information-centric approach aims to reduce the cognitive workload of the flight controllers by reducing the need for manual integration of information across processors and displays. Section 3 describes the Orbital Flight Dynamics domain. Section 4 defines the preliminary data model for Orbital Flight Dynamics. Section 5 examines the implications of mapping the data model to Orbital Flight Dynamics current information systems. Two recurring patterns are identified in the Orbital Flight Dynamics work the iteration/rework cycle and the decision-making/information integration/mirroring role relationship. Section 6 identifies new requirements on Orbital Flight Dynamics work and makes recommendations based on changing the information environment, changing the implementation of the data model, and changing the two recurring patterns.

Neural dynamic optimization for control systems. I. Background.

PubMed

Seong, C Y; Widrow, B

2001-01-01

The paper presents neural dynamic optimization (NDO) as a method of optimal feedback control for nonlinear multi-input-multi-output (MIMO) systems. The main feature of NDO is that it enables neural networks to approximate the optimal feedback solution whose existence dynamic programming (DP) justifies, thereby reducing the complexities of computation and storage problems of the classical methods such as DP. This paper mainly describes the background and motivations for the development of NDO, while the two other subsequent papers of this topic present the theory of NDO and demonstrate the method with several applications including control of autonomous vehicles and of a robot arm, respectively.

Neural dynamic optimization for control systems.III. Applications.

PubMed

Seong, C Y; Widrow, B

2001-01-01

For pt.II. see ibid., p. 490-501. The paper presents neural dynamic optimization (NDO) as a method of optimal feedback control for nonlinear multi-input-multi-output (MIMO) systems. The main feature of NDO is that it enables neural networks to approximate the optimal feedback solution whose existence dynamic programming (DP) justifies, thereby reducing the complexities of computation and storage problems of the classical methods such as DP. This paper demonstrates NDO with several applications including control of autonomous vehicles and of a robot-arm, while the two other companion papers of this topic describes the background for the development of NDO and present the theory of the method, respectively.

Neural dynamic optimization for control systems.II. Theory.

PubMed

Seong, C Y; Widrow, B

2001-01-01

The paper presents neural dynamic optimization (NDO) as a method of optimal feedback control for nonlinear multi-input-multi-output (MIMO) systems. The main feature of NDO is that it enables neural networks to approximate the optimal feedback solution whose existence dynamic programming (DP) justifies, thereby reducing the complexities of computation and storage problems of the classical methods such as DP. This paper mainly describes the theory of NDO, while the two other companion papers of this topic explain the background for the development of NDO and demonstrate the method with several applications including control of autonomous vehicles and of a robot arm, respectively.

Motion-mode energy method for vehicle dynamics analysis and control

NASA Astrophysics Data System (ADS)

Zhang, Nong; Wang, Lifu; Du, Haiping

2014-01-01

Vehicle motion and vibration control is a fundamental motivation for the development of advanced vehicle suspension systems. In a vehicle-fixed coordinate system, the relative motions of the vehicle between body and wheel can be classified into several dynamic stages based on energy intensity, and can be decomposed into sets of uncoupled motion-modes according to modal parameters. Vehicle motions are coupled, but motion-modes are orthogonal. By detecting and controlling the predominating vehicle motion-mode, the system cost and energy consumption of active suspensions could be reduced. A motion-mode energy method (MEM) is presented in this paper to quantify the energy contribution of each motion-mode to vehicle dynamics in real time. The control of motion-modes is prioritised according to the level of motion-mode energy. Simulation results on a 10 degree-of-freedom nonlinear full-car model with the magic-formula tyre model illustrate the effectiveness of the proposed MEM. The contribution of each motion-mode to the vehicle's dynamic behaviour is analysed under different excitation inputs from road irregularities, directional manoeuvres and braking. With the identified dominant motion-mode, novel cost-effective suspension systems, such as active reconfigurable hydraulically interconnected suspension, can possibly be used to control full-car motions with reduced energy consumption. Finally, discussion, conclusions and suggestions for future work are provided.

Stochastic optimal control as non-equilibrium statistical mechanics: calculus of variations over density and current

NASA Astrophysics Data System (ADS)

Chernyak, Vladimir Y.; Chertkov, Michael; Bierkens, Joris; Kappen, Hilbert J.

2014-01-01

In stochastic optimal control (SOC) one minimizes the average cost-to-go, that consists of the cost-of-control (amount of efforts), cost-of-space (where one wants the system to be) and the target cost (where one wants the system to arrive), for a system participating in forced and controlled Langevin dynamics. We extend the SOC problem by introducing an additional cost-of-dynamics, characterized by a vector potential. We propose derivation of the generalized gauge-invariant Hamilton-Jacobi-Bellman equation as a variation over density and current, suggest hydrodynamic interpretation and discuss examples, e.g., ergodic control of a particle-within-a-circle, illustrating non-equilibrium space-time complexity.

Design of distributed PID-type dynamic matrix controller for fractional-order systems

NASA Astrophysics Data System (ADS)

Wang, Dawei; Zhang, Ridong

2018-01-01

With the continuous requirements for product quality and safety operation in industrial production, it is difficult to describe the complex large-scale processes with integer-order differential equations. However, the fractional differential equations may precisely represent the intrinsic characteristics of such systems. In this paper, a distributed PID-type dynamic matrix control method based on fractional-order systems is proposed. First, the high-order approximate model of integer order is obtained by utilising the Oustaloup method. Then, the step response model vectors of the plant is obtained on the basis of the high-order model, and the online optimisation for multivariable processes is transformed into the optimisation of each small-scale subsystem that is regarded as a sub-plant controlled in the distributed framework. Furthermore, the PID operator is introduced into the performance index of each subsystem and the fractional-order PID-type dynamic matrix controller is designed based on Nash optimisation strategy. The information exchange among the subsystems is realised through the distributed control structure so as to complete the optimisation task of the whole large-scale system. Finally, the control performance of the designed controller in this paper is verified by an example.

Preliminary analysis of the PreFlexMS molten salt once-through steam generator dynamics and control strategy

NASA Astrophysics Data System (ADS)

Trabucchi, Stefano; Casella, Francesco; Maioli, Tommaso; Elsido, Cristina; Franzini, Davide; Ramond, Mathieu

2017-06-01

Concentrated Solar Power plants (CSP) coupled with thermal storage have the potential to guarantee both flexible and continuous energy production, thus being competitive with conventional fossil fuel and hydro power plants, in terms of dispatchability and provision of ancillary services. Hence, the plant equipment and control design have to be focused on flexible operation on one hand, and on plant safety concerning the molten salt freezing on the other hand. The PreFlexMS European project aims to introduce a molten salt Once-Through Steam Generator (OTSG) within a Rankine cycle based power unit, a technology that has greater flexibility potential if compared to steam drum boilers, currently used in CSP plants. The dynamic modelling and simulation from the early design stages is, thus, of paramount importance, to assess the plant dynamic behavior and controllability, and to predict the achievable closed-loop dynamic performance, potentially saving money and time during the detailed design, construction and commissioning phases. The present paper reports the main results of the analysis carried out during the first part of the project, regarding the system analysis and control design. In particular, two different control systems have been studied and tested with the plant dynamic model: a decentralized control strategy based on PI controllers and a Linear Model Predictive Control (LMPC).

Cell fate reprogramming by control of intracellular network dynamics

NASA Astrophysics Data System (ADS)

Zanudo, Jorge G. T.; Albert, Reka

Identifying control strategies for biological networks is paramount for practical applications that involve reprogramming a cell's fate, such as disease therapeutics and stem cell reprogramming. Although the topic of controlling the dynamics of a system has a long history in control theory, most of this work is not directly applicable to intracellular networks. Here we present a network control method that integrates the structural and functional information available for intracellular networks to predict control targets. Formulated in a logical dynamic scheme, our control method takes advantage of certain function-dependent network components and their relation to steady states in order to identify control targets, which are guaranteed to drive any initial state to the target state with 100% effectiveness and need to be applied only transiently for the system to reach and stay in the desired state. We illustrate our method's potential to find intervention targets for cancer treatment and cell differentiation by applying it to a leukemia signaling network and to the network controlling the differentiation of T cells. We find that the predicted control targets are effective in a broad dynamic framework. Moreover, several of the predicted interventions are supported by experiments. This work was supported by NSF Grant PHY 1205840.

Data based identification and prediction of nonlinear and complex dynamical systems

NASA Astrophysics Data System (ADS)

Wang, Wen-Xu; Lai, Ying-Cheng; Grebogi, Celso

2016-07-01

The problem of reconstructing nonlinear and complex dynamical systems from measured data or time series is central to many scientific disciplines including physical, biological, computer, and social sciences, as well as engineering and economics. The classic approach to phase-space reconstruction through the methodology of delay-coordinate embedding has been practiced for more than three decades, but the paradigm is effective mostly for low-dimensional dynamical systems. Often, the methodology yields only a topological correspondence of the original system. There are situations in various fields of science and engineering where the systems of interest are complex and high dimensional with many interacting components. A complex system typically exhibits a rich variety of collective dynamics, and it is of great interest to be able to detect, classify, understand, predict, and control the dynamics using data that are becoming increasingly accessible due to the advances of modern information technology. To accomplish these goals, especially prediction and control, an accurate reconstruction of the original system is required. Nonlinear and complex systems identification aims at inferring, from data, the mathematical equations that govern the dynamical evolution and the complex interaction patterns, or topology, among the various components of the system. With successful reconstruction of the system equations and the connecting topology, it may be possible to address challenging and significant problems such as identification of causal relations among the interacting components and detection of hidden nodes. The "inverse" problem thus presents a grand challenge, requiring new paradigms beyond the traditional delay-coordinate embedding methodology. The past fifteen years have witnessed rapid development of contemporary complex graph theory with broad applications in interdisciplinary science and engineering. The combination of graph, information, and nonlinear dynamical systems theories with tools from statistical physics, optimization, engineering control, applied mathematics, and scientific computing enables the development of a number of paradigms to address the problem of nonlinear and complex systems reconstruction. In this Review, we describe the recent advances in this forefront and rapidly evolving field, with a focus on compressive sensing based methods. In particular, compressive sensing is a paradigm developed in recent years in applied mathematics, electrical engineering, and nonlinear physics to reconstruct sparse signals using only limited data. It has broad applications ranging from image compression/reconstruction to the analysis of large-scale sensor networks, and it has become a powerful technique to obtain high-fidelity signals for applications where sufficient observations are not available. We will describe in detail how compressive sensing can be exploited to address a diverse array of problems in data based reconstruction of nonlinear and complex networked systems. The problems include identification of chaotic systems and prediction of catastrophic bifurcations, forecasting future attractors of time-varying nonlinear systems, reconstruction of complex networks with oscillatory and evolutionary game dynamics, detection of hidden nodes, identification of chaotic elements in neuronal networks, reconstruction of complex geospatial networks and nodal positioning, and reconstruction of complex spreading networks with binary data.. A number of alternative methods, such as those based on system response to external driving, synchronization, and noise-induced dynamical correlation, will also be discussed. Due to the high relevance of network reconstruction to biological sciences, a special section is devoted to a brief survey of the current methods to infer biological networks. Finally, a number of open problems including control and controllability of complex nonlinear dynamical networks are discussed. The methods outlined in this Review are principled on various concepts in complexity science and engineering such as phase transitions, bifurcations, stabilities, and robustness. The methodologies have the potential to significantly improve our ability to understand a variety of complex dynamical systems ranging from gene regulatory systems to social networks toward the ultimate goal of controlling such systems.

Bifurcation and Stability Analysis of the Equilibrium States in Thermodynamic Systems in a Small Vicinity of the Equilibrium Values of Parameters

NASA Astrophysics Data System (ADS)

Barsuk, Alexandr A.; Paladi, Florentin

2018-04-01

The dynamic behavior of thermodynamic system, described by one order parameter and one control parameter, in a small neighborhood of ordinary and bifurcation equilibrium values of the system parameters is studied. Using the general methods of investigating the branching (bifurcations) of solutions for nonlinear equations, we performed an exhaustive analysis of the order parameter dependences on the control parameter in a small vicinity of the equilibrium values of parameters, including the stability analysis of the equilibrium states, and the asymptotic behavior of the order parameter dependences on the control parameter (bifurcation diagrams). The peculiarities of the transition to an unstable state of the system are discussed, and the estimates of the transition time to the unstable state in the neighborhood of ordinary and bifurcation equilibrium values of parameters are given. The influence of an external field on the dynamic behavior of thermodynamic system is analyzed, and the peculiarities of the system dynamic behavior are discussed near the ordinary and bifurcation equilibrium values of parameters in the presence of external field. The dynamic process of magnetization of a ferromagnet is discussed by using the general methods of bifurcation and stability analysis presented in the paper.

A survey of decentralized control techniques for large space structures

NASA Technical Reports Server (NTRS)

Lindner, D. K.; Reichard, K.

1987-01-01

Preliminary results on the design of decentralized controllers for the COFS I Mast are reported. A nine mode finite element model is used along with second order model of the actuators. It is shown that without actuator dynamics, the system is stable with collocated rate feedback and has acceptable performace. However, when actuator dynamics are included, the system is unstable.

Symmetric linear systems - An application of algebraic systems theory

NASA Technical Reports Server (NTRS)

Hazewinkel, M.; Martin, C.

1983-01-01

Dynamical systems which contain several identical subsystems occur in a variety of applications ranging from command and control systems and discretization of partial differential equations, to the stability augmentation of pairs of helicopters lifting a large mass. Linear models for such systems display certain obvious symmetries. In this paper, we discuss how these symmetries can be incorporated into a mathematical model that utilizes the modern theory of algebraic systems. Such systems are inherently related to the representation theory of algebras over fields. We will show that any control scheme which respects the dynamical structure either implicitly or explicitly uses the underlying algebra.

Integration of domain and resource-based reasoning for real-time control in dynamic environments

NASA Technical Reports Server (NTRS)

Morgan, Keith; Whitebread, Kenneth R.; Kendus, Michael; Cromarty, Andrew S.

1993-01-01

A real-time software controller that successfully integrates domain-based and resource-based control reasoning to perform task execution in a dynamically changing environment is described. The design of the controller is based on the concept of partitioning the process to be controlled into a set of tasks, each of which achieves some process goal. It is assumed that, in general, there are multiple ways (tasks) to achieve a goal. The controller dynamically determines current goals and their current criticality, choosing and scheduling tasks to achieve those goals in the time available. It incorporates rule-based goal reasoning, a TMS-based criticality propagation mechanism, and a real-time scheduler. The controller has been used to build a knowledge-based situation assessment system that formed a major component of a real-time, distributed, cooperative problem solving system built under DARPA contract. It is also being employed in other applications now in progress.

Real-Time Minimization of Tracking Error for Aircraft Systems

NASA Technical Reports Server (NTRS)

Garud, Sumedha; Kaneshige, John T.; Krishnakumar, Kalmanje S.; Kulkarni, Nilesh V.; Burken, John

2013-01-01

This technology presents a novel, stable, discrete-time adaptive law for flight control in a Direct adaptive control (DAC) framework. Where errors are not present, the original control design has been tuned for optimal performance. Adaptive control works towards achieving nominal performance whenever the design has modeling uncertainties/errors or when the vehicle suffers substantial flight configuration change. The baseline controller uses dynamic inversion with proportional-integral augmentation. On-line adaptation of this control law is achieved by providing a parameterized augmentation signal to a dynamic inversion block. The parameters of this augmentation signal are updated to achieve the nominal desired error dynamics. If the system senses that at least one aircraft component is experiencing an excursion and the return of this component value toward its reference value is not proceeding according to the expected controller characteristics, then the neural network (NN) modeling of aircraft operation may be changed.

49 CFR 552.12 - Definitions.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Expedited Rulemaking To Establish Dynamic Automatic Suppression System Test Procedures for Federal Motor... subpart, the following definitions apply: (a) Dynamic automatic suppression system (DASS) means a portion of an air bag system that automatically controls whether or not the air bag deploys during a crash by...

A disturbance observer-based adaptive control approach for flexure beam nano manipulators.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-01-01

This paper presents a systematic modeling and control methodology for a two-dimensional flexure beam-based servo stage supporting micro/nano manipulations. Compared with conventional mechatronic systems, such systems have major control challenges including cross-axis coupling, dynamical uncertainties, as well as input saturations, which may have adverse effects on system performance unless effectively eliminated. A novel disturbance observer-based adaptive backstepping-like control approach is developed for high precision servo manipulation purposes, which effectively accommodates model uncertainties and coupling dynamics. An auxiliary system is also introduced, on top of the proposed control scheme, to compensate the input saturations. The proposed control architecture is deployed on a customized-designed nano manipulating system featured with a flexure beam structure and voice coil actuators (VCA). Real time experiments on various manipulating tasks, such as trajectory/contour tracking, demonstrate precision errors of less than 1%. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

A stochastic regulator for integrated communication and control systems. I - Formulation of control law. II - Numerical analysis and simulation

NASA Technical Reports Server (NTRS)

Liou, Luen-Woei; Ray, Asok

1991-01-01

A state feedback control law for integrated communication and control systems (ICCS) is formulated by using the dynamic programming and optimality principle on a finite-time horizon. The control law is derived on the basis of a stochastic model of the plant which is augmented in state space to allow for the effects of randomly varying delays in the feedback loop. A numerical procedure for synthesizing the control parameters is then presented, and the performance of the control law is evaluated by simulating the flight dynamics model of an advanced aircraft. Finally, recommendations for future work are made.

Control of a high beta maneuvering reentry vehicle using dynamic inversion.

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

Watts, Alfred Chapman

2005-05-01

The design of flight control systems for high performance maneuvering reentry vehicles presents a significant challenge to the control systems designer. These vehicles typically have a much higher ballistic coefficient than crewed vehicles like as the Space Shuttle or proposed crew return vehicles such as the X-38. Moreover, the missions of high performance vehicles usually require a steeper reentry flight path angle, followed by a pull-out into level flight. These vehicles then must transit the entire atmosphere and robustly perform the maneuvers required for the mission. The vehicles must also be flown with small static margins in order to performmore » the required maneuvers, which can result in highly nonlinear aerodynamic characteristics that frequently transition from being aerodynamically stable to unstable as angle of attack increases. The control system design technique of dynamic inversion has been applied successfully to both high performance aircraft and low beta reentry vehicles. The objective of this study was to explore the application of this technique to high performance maneuvering reentry vehicles, including the basic derivation of the dynamic inversion technique, followed by the extension of that technique to the use of tabular trim aerodynamic models in the controller. The dynamic inversion equations are developed for high performance vehicles and augmented to allow the selection of a desired response for the control system. A six degree of freedom simulation is used to evaluate the performance of the dynamic inversion approach, and results for both nominal and off nominal aerodynamic characteristics are presented.« less

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.

Dynamic modeling, experimental evaluation, optimal design and control of integrated fuel cell system and hybrid energy systems for building demands

NASA Astrophysics Data System (ADS)

Nguyen, Gia Luong Huu

Fuel cells can produce electricity with high efficiency, low pollutants, and low noise. With the advent of fuel cell technologies, fuel cell systems have since been demonstrated as reliable power generators with power outputs from a few watts to a few megawatts. With proper equipment, fuel cell systems can produce heating and cooling, thus increased its overall efficiency. To increase the acceptance from electrical utilities and building owners, fuel cell systems must operate more dynamically and integrate well with renewable energy resources. This research studies the dynamic performance of fuel cells and the integration of fuel cells with other equipment in three levels: (i) the fuel cell stack operating on hydrogen and reformate gases, (ii) the fuel cell system consisting of a fuel reformer, a fuel cell stack, and a heat recovery unit, and (iii) the hybrid energy system consisting of photovoltaic panels, fuel cell system, and energy storage. In the first part, this research studied the steady-state and dynamic performance of a high temperature PEM fuel cell stack. Collaborators at Aalborg University (Aalborg, Denmark) conducted experiments on a high temperature PEM fuel cell short stack at steady-state and transients. Along with the experimental activities, this research developed a first-principles dynamic model of a fuel cell stack. The dynamic model developed in this research was compared to the experimental results when operating on different reformate concentrations. Finally, the dynamic performance of the fuel cell stack for a rapid increase and rapid decrease in power was evaluated. The dynamic model well predicted the performance of the well-performing cells in the experimental fuel cell stack. The second part of the research studied the dynamic response of a high temperature PEM fuel cell system consisting of a fuel reformer, a fuel cell stack, and a heat recovery unit with high thermal integration. After verifying the model performance with the obtained experimental data, the research studied the control of airflow to regulate the temperature of reactors within the fuel processor. The dynamic model provided a platform to test the dynamic response for different control gains. With sufficient sensing and appropriate control, a rapid response to maintain the temperature of the reactor despite an increase in power was possible. The third part of the research studied the use of a fuel cell in conjunction with photovoltaic panels, and energy storage to provide electricity for buildings. This research developed an optimization framework to determine the size of each device in the hybrid energy system to satisfy the electrical demands of buildings and yield the lowest cost. The advantage of having the fuel cell with photovoltaic and energy storage was the ability to operate the fuel cell at baseload at night, thus reducing the need for large battery systems to shift the solar power produced in the day to the night. In addition, the dispatchability of the fuel cell provided an extra degree of freedom necessary for unforeseen disturbances. An operation framework based on model predictive control showed that the method is suitable for optimizing the dispatch of the hybrid energy system.

Integrated dynamic analysis simulation of space stations with controllable solar array

NASA Technical Reports Server (NTRS)

Heinrichs, J. A.; Fee, J. J.

1972-01-01

A methodology is formulated and presented for the integrated structural dynamic analysis of space stations with controllable solar arrays and non-controllable appendages. The structural system flexibility characteristics are considered in the dynamic analysis by a synthesis technique whereby free-free space station modal coordinates and cantilever appendage coordinates are inertially coupled. A digital simulation of this analysis method is described and verified by comparison of interaction load solutions with other methods of solution. Motion equations are simulated for both the zero gravity and artificial gravity (spinning) orbital conditions. Closed loop controlling dynamics for both orientation control of the arrays and attitude control of the space station are provided in the simulation by various generic types of controlling systems. The capability of the simulation as a design tool is demonstrated by utilizing typical space station and solar array structural representations and a specific structural perturbing force. Response and interaction load solutions are presented for this structural configuration and indicate the importance of using an integrated type analysis for the predictions of structural interactions.

Optimal control of multiphoton ionization dynamics of small alkali aggregates

NASA Astrophysics Data System (ADS)

Lindinger, A.; Bartelt, A.; Lupulescu, C.; Vajda, S.; Woste, Ludger

2003-11-01

We have performed transient multi-photon ionization experiments on small alkali clusters of different size in order to probe their wave packet dynamics, structural reorientations, charge transfers and dissociative events in different vibrationally excited electronic states including their ground state. The observed processes were highly dependent on the irradiated pulse parameters like wavelength range or its phase and amplitude; an emphasis to employ a feedback control system for generating the optimum pulse shapes. Their spectral and temporal behavior reflects interesting properties about the investigated system and the irradiated photo-chemical process. First, we present the vibrational dynamics of bound electronically excited states of alkali dimers and trimers. The scheme for observing the wave packet dynamics in the electronic ground state using stimulated Raman-pumping is shown. Since the employed pulse parameters significantly influence the efficiency of the irradiated dynamic pathways photo-induced ioniziation experiments were carried out. The controllability of 3-photon ionization pathways is investigated on the model-like systems NaK and K2. A closed learning loop for adaptive feedback control is used to find the optimal fs pulse shape. Sinusoidal parameterizations of the spectral phase modulation are investigated in regard to the obtained optimal field. By reducing the number of parameters and thereby the complexity of the phase moduation, optimal pulse shapes can be generated that carry fingerprints of the molecule's dynamical properties. This enables to find "understandable" optimal pulse forms and offers the possiblity to gain insight into the photo-induced control process. Characteristic motions of the involved wave packets are proposed to explain the optimized dynamic dissociation pathways.

Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes

NASA Astrophysics Data System (ADS)

Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

2018-03-01

This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.

Data Distribution System (DDS) and Solar Dynamic Observatory Ground Station (SDOGS) Integration Manager

NASA Technical Reports Server (NTRS)

Pham, Kim; Bialas, Thomas

2012-01-01

The DDS SDOGS Integration Manager (DSIM) provides translation between native control and status formats for systems within DDS and SDOGS, and the ASIST (Advanced Spacecraft Integration and System Test) control environment in the SDO MOC (Solar Dynamics Observatory Mission Operations Center). This system was created in response for a need to centralize remote monitor and control of SDO Ground Station equipments using ASIST control environment in SDO MOC, and to have configurable table definition for equipment. It provides translation of status and monitoring information from the native systems into ASIST-readable format to display on pages in the MOC. The manager is lightweight, user friendly, and efficient. It allows data trending, correlation, and storing. It allows using ASIST as common interface for remote monitor and control of heterogeneous equipments. It also provides failover capability to back up machines.

Global fast dynamic terminal sliding mode control for a quadrotor UAV.

PubMed

Xiong, Jing-Jing; Zhang, Guo-Bao

2017-01-01

A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

NASA Marshall Space Flight Center Controls Systems Design and Analysis Branch

NASA Technical Reports Server (NTRS)

Gilligan, Eric

2014-01-01

Marshall Space Flight Center maintains a critical national capability in the analysis of launch vehicle flight dynamics and flight certification of GN&C algorithms. MSFC analysts are domain experts in the areas of flexible-body dynamics and control-structure interaction, thrust vector control, sloshing propellant dynamics, and advanced statistical methods. Marshall's modeling and simulation expertise has supported manned spaceflight for over 50 years. Marshall's unparalleled capability in launch vehicle guidance, navigation, and control technology stems from its rich heritage in developing, integrating, and testing launch vehicle GN&C systems dating to the early Mercury-Redstone and Saturn vehicles. The Marshall team is continuously developing novel methods for design, including advanced techniques for large-scale optimization and analysis.

Feasibility study of solid oxide fuel cell engines integrated with sprinter gas turbines: Modeling, design and control

NASA Astrophysics Data System (ADS)

Jia, Zhenzhong; Sun, Jing; Dobbs, Herb; King, Joel

2015-02-01

Conventional recuperating solid oxide fuel cell (SOFC)/gas turbine (GT) system suffers from its poor dynamic capability and load following performance. To meet the fast, safe and efficient load following requirements for mobile applications, a sprinter SOFC/GT system concept is proposed in this paper. In the proposed system, an SOFC stack operating at fairly constant temperature provides the baseline power with high efficiency while the fast dynamic capability of the GT-generator is fully explored for fast dynamic load following. System design and control studies have been conducted by using an SOFC/GT system model consisting of experimentally-verified component models. In particular, through analysis of the steady-state simulation results, an SOFC operation strategy is proposed to maintain fairly constant SOFC power (less than 2% power variation) and temperature (less than 2 K temperature variation) over the entire load range. A system design procedure well-suited to the proposed system has also been developed to help determining component sizes and the reference steady-state operation line. In addition, control analysis has been studied for both steady-state and transient operations. Simulation results suggest that the proposed system holds the promise to achieve fast and safe transient operations by taking full advantage of the fast dynamics of the GT-generator.