National Aeronautics and Space Administration — SSCI is proposing to develop, test and deliver a set of topology control algorithms and software for a formation flying spacecraft that can be used to design and...
National Aeronautics and Space Administration — SSCI is proposing to develop a set of topology control algorithms for a formation flying spacecraft that can be used to design and evaluate candidate formation...
Spacecraft momentum control systems
Leve, Frederick A; Peck, Mason A
2015-01-01
The goal of this book is to serve both as a practical technical reference and a resource for gaining a fuller understanding of the state of the art of spacecraft momentum control systems, specifically looking at control moment gyroscopes (CMGs). As a result, the subject matter includes theory, technology, and systems engineering. The authors combine material on system-level architecture of spacecraft that feature momentum-control systems with material about the momentum-control hardware and software. This also encompasses material on the theoretical and algorithmic approaches to the control of space vehicles with CMGs. In essence, CMGs are the attitude-control actuators that make contemporary highly agile spacecraft possible. The rise of commercial Earth imaging, the advances in privately built spacecraft (including small satellites), and the growing popularity of the subject matter in academic circles over the past decade argues that now is the time for an in-depth treatment of the topic. CMGs are augmented ...
General Attitude Control Algorithm for Spacecraft Equipped with Star Camera and Reaction Wheels
Wisniewski, Rafal; Kulczycki, P.
A configuration consisting of a star camera, four reaction wheels and magnetorquers for momentum unloading has become standard for many spacecraft missions. This popularity has motivated numerous agencies and private companies to initiate work on the design of an imbedded attitude control system...... realized on an integrated circuit. This paper considers two issues: slew maneuver with a feature of avoiding direct exposure of the camera's CCD chip to the Sun %, three-axis attitude control and optimal control torque distribution in a reaction wheel assembly. The attitude controller is synthesized...
Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations
McCamish, Shawn B
2007-01-01
This research contributes to multiple spacecraft control by developing an autonomous distributed control algorithm for close proximity operations of multiple spacecraft systems, including rendezvous...
Spacecraft Attitude Control in Hamiltonian Framework
Wisniewski, Rafal
2000-01-01
The objective of this paper is to give a design scheme for attitude control algorithms of a generic spacecraft. Along with the system model formulated in the Hamilton's canonical form the algorithm uses information about a required potential energy and a dissipative term. The control action...
Rotational Motion Control of a Spacecraft
Wisniewski, Rafal; Kulczycki, P.
2001-01-01
The paper adopts the energy shaping method to control of rotational motion. A global representation of the rigid body motion is given in the canonical form by a quaternion and its conjugate momenta. A general method for motion control on a cotangent bundle to the 3-sphere is suggested. The design...... algorithm is validated for three-axis spacecraft attitude control...
Rotational motion control of a spacecraft
Wisniewski, Rafal; Kulczycki, P.
2003-01-01
The paper adopts the energy shaping method to control of rotational motion. A global representation of the rigid body motion is given in the canonical form by a quaternion and its conjugate momenta. A general method for motion control on a cotangent bundle to the 3-sphere is suggested. The design...... algorithm is validated for three-axis spacecraft attitude control. Udgivelsesdato: APR...
Simulator Facility for Attitude Control and Energy Storage of Spacecraft
Tsiotras, Panagiotis
2002-01-01
This report concerns a designed and built experimental facility that will allow the conduction of experiments for validating advanced attitude control algorithms for spacecraft in a weightless environment...
Guidance and control of swarms of spacecraft
Morgan, Daniel James
There has been considerable interest in formation flying spacecraft due to their potential to perform certain tasks at a cheaper cost than monolithic spacecraft. Formation flying enables the use of smaller, cheaper spacecraft that distribute the risk of the mission. Recently, the ideas of formation flying have been extended to spacecraft swarms made up of hundreds to thousands of 100-gram-class spacecraft known as femtosatellites. The large number of spacecraft and limited capabilities of each individual spacecraft present a significant challenge in guidance, navigation, and control. This dissertation deals with the guidance and control algorithms required to enable the flight of spacecraft swarms. The algorithms developed in this dissertation are focused on achieving two main goals: swarm keeping and swarm reconfiguration. The objectives of swarm keeping are to maintain bounded relative distances between spacecraft, prevent collisions between spacecraft, and minimize the propellant used by each spacecraft. Swarm reconfiguration requires the transfer of the swarm to a specific shape. Like with swarm keeping, minimizing the propellant used and preventing collisions are the main objectives. Additionally, the algorithms required for swarm keeping and swarm reconfiguration should be decentralized with respect to communication and computation so that they can be implemented on femtosats, which have limited hardware capabilities. The algorithms developed in this dissertation are concerned with swarms located in low Earth orbit. In these orbits, Earth oblateness and atmospheric drag have a significant effect on the relative motion of the swarm. The complicated dynamic environment of low Earth orbits further complicates the swarm-keeping and swarm-reconfiguration problems. To better develop and test these algorithms, a nonlinear, relative dynamic model with J2 and drag perturbations is developed. This model is used throughout this dissertation to validate the algorithms
National Aeronautics and Space Administration — To reduce the accumulation of human-made "space junk", NASA has implemented a rule requiring the disposal of spacecraft below 2,000 km within 25 years. By deploying...
Trajectory Control of Rendezvous with Maneuver Target Spacecraft
Zhou, Zhinqiang
2012-01-01
In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.
Spacecraft Design Thermal Control Subsystem
Miyake, Robert N.
2008-01-01
The Thermal Control Subsystem engineers task is to maintain the temperature of all spacecraft components, subsystems, and the total flight system within specified limits for all flight modes from launch to end-of-mission. In some cases, specific stability and gradient temperature limits will be imposed on flight system elements. The Thermal Control Subsystem of "normal" flight systems, the mass, power, control, and sensing systems mass and power requirements are below 10% of the total flight system resources. In general the thermal control subsystem engineer is involved in all other flight subsystem designs.
Hybrid spacecraft attitude control system
Renuganth Varatharajoo
2016-02-01
Full Text Available The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.
Novel Methodology for Control and Stabilization of Spacecraft with Captured Asteroid
National Aeronautics and Space Administration — Development of novel spacecraft guidance control architectures and algorithms that work in conjunction with robot manipulator control for application to ARM mission...
Application of square-root filtering for spacecraft attitude control
Sorensen, J. A.; Schmidt, S. F.; Goka, T.
1978-01-01
Suitable digital algorithms are developed and tested for providing on-board precision attitude estimation and pointing control for potential use in the Landsat-D spacecraft. These algorithms provide pointing accuracy of better than 0.01 deg. To obtain necessary precision with efficient software, a six state-variable square-root Kalman filter combines two star tracker measurements to update attitude estimates obtained from processing three gyro outputs. The validity of the estimation and control algorithms are established, and the sensitivity of their performance to various error sources and software parameters are investigated by detailed digital simulation. Spacecraft computer memory, cycle time, and accuracy requirements are estimated.
Results from active spacecraft potential control on the Geotail spacecraft
Schmidt, R.; Arends, H.; Pedersen, A.
1995-01-01
A low and actively controlled electrostatic potential on the outer surfaces of a scientific spacecraft is very important for accurate measurements of cold plasma electrons and ions and the DC to low-frequency electric field. The Japanese/NASA Geotail spacecraft carriers as part of its scientific payload a novel ion emitter for active control of the electrostatic potential on the surface of the spacecraft. The aim of the ion emitter is to reduce the positive surface potential which is normally encountered in the outer magnetosphere when the spacecraft is sunlit. Ion emission clamps the surface potential to near the ambient plasma potential. Without emission control, Geotail has encountered plasma conditions in the lobes of the magnetotail which resulted in surface potentials of up to about +70 V. The ion emitter proves to be able to discharge the outer surfaces of the spacecraft and is capable of keeping the surface potential stable at about +2 V. This potential is measured with respect to one of the electric field probes which are current biased and thus kept at a potential slightly above the ambient plasma potential. The instrument uses the liquid metal field ion emission principle to emit indium ions. The ion beam energy is about 6 keV and the typical total emission current amounts to about 15 μA. Neither variations in the ambient plasma conditions nor operation of two electron emitters on Geotail produce significant variations of the controlled surface potential as long as the resulting electron emission currents remain much smaller than the ion emission current. Typical results of the active potential control are shown, demonstrating the surface potential reduction and its stability over time. 25 refs., 5 figs
Spacecraft command and control using expert systems
Norcross, Scott; Grieser, William H.
1994-01-01
This paper describes a product called the Intelligent Mission Toolkit (IMT), which was created to meet the changing demands of the spacecraft command and control market. IMT is a command and control system built upon an expert system. Its primary functions are to send commands to the spacecraft and process telemetry data received from the spacecraft. It also controls the ground equipment used to support the system, such as encryption gear, and telemetry front-end equipment. Add-on modules allow IMT to control antennas and antenna interface equipment. The design philosophy for IMT is to utilize available commercial products wherever possible. IMT utilizes Gensym's G2 Real-time Expert System as the core of the system. G2 is responsible for overall system control, spacecraft commanding control, and spacecraft telemetry analysis and display. Other commercial products incorporated into IMT include the SYBASE relational database management system and Loral Test and Integration Systems' System 500 for telemetry front-end processing.
Ulysses spacecraft control and monitoring system
Hamer, P. A.; Snowden, P. J.
1991-01-01
The baseline Ulysses spacecraft control and monitoring system (SCMS) concepts and the converted SCMS, residing on a DEC/VAX 8350 hardware, are considered. The main functions of the system include monitoring and displaying spacecraft telemetry, preparing spacecraft commands, producing hard copies of experimental data, and archiving spacecraft telemetry. The SCMS system comprises over 20 subsystems ranging from low-level utility routines to the major monitoring and control software. These in total consist of approximately 55,000 lines of FORTRAN source code and 100 VMS command files. The SCMS major software facilities are described, including database files, telemetry processing, telecommanding, archiving of data, and display of telemetry.
Quaternion Feedback Control for Rigid-body Spacecraft
Jensen, Hans-Christian Becker; Wisniewski, Rafal
2001-01-01
This paper addresses three-axis attitude control for a Danish spacecraft, Roemer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental...
Foot Pedals for Spacecraft Manual Control
Love, Stanley G.; Morin, Lee M.; McCabe, Mary
2010-01-01
Fifty years ago, NASA decided that the cockpit controls in spacecraft should be like the ones in airplanes. But controls based on the stick and rudder may not be best way to manually control a vehicle in space. A different method is based on submersible vehicles controlled with foot pedals. A new pilot can learn the sub's control scheme in minutes and drive it hands-free. We are building a pair of foot pedals for spacecraft control, and will test them in a spacecraft flight simulator.
Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations
2007-12-01
Neubauer [54][55]. 87 VII. LQR/APF CONTROL ALGORITHM APPROACH The LQR approach can be recursively applied to the multiple spacecraft close... Neubauer and Swartwout’s research [55]. It is generally possible to select a closed map over which the algorithm is stable and robust. For these...can be easily edited and transferred into video format for presentations. Modifications of camera key frames ( camera position and angle) and
Event-triggered attitude control of spacecraft
Wu, Baolin; Shen, Qiang; Cao, Xibin
2018-02-01
The problem of spacecraft attitude stabilization control system with limited communication and external disturbances is investigated based on an event-triggered control scheme. In the proposed scheme, information of attitude and control torque only need to be transmitted at some discrete triggered times when a defined measurement error exceeds a state-dependent threshold. The proposed control scheme not only guarantees that spacecraft attitude control errors converge toward a small invariant set containing the origin, but also ensures that there is no accumulation of triggering instants. The performance of the proposed control scheme is demonstrated through numerical simulation.
Stabilization of rotational motion with application to spacecraft attitude control
Wisniewski, Rafal
2000-01-01
for global stabilization of a rotary motion. Along with a model of the system formulated in the Hamilton's canonical from the algorithm uses information about a required potential energy and a dissipation term. The control action is the sum of the gradient of the potential energy and the dissipation force......The objective of this paper is to develop a control scheme for stabilization of a hamiltonian system. The method generalizes the results available in the literature on motion control in the Euclidean space to an arbitrary differrential manifol equipped with a metric. This modification is essencial...... on a Riemannian manifold. The Lyapnov stability theory is adapted and reformulated to fit to the new framework of Riemannian manifolds. Toillustrate the results a spacecraft attitude control problem is considered. Firstly, a global canonical representation for the spacecraft motion is found, then three spacecraft...
Stabilization of rotational motion with application to spacecraft attitude control
Wisniewski, Rafal
2001-01-01
for global stabilization of a rotary motion. Along with a model of the system formulated in the Hamilton's canonical from the algorithm uses information about a required potential energy and a dissipation term. The control action is the sum of the gradient of the potential energy and the dissipation force......The objective of this paper is to develop a control scheme for stabilization of a hamiltonian system. The method generalizes the results available in the literature on motion control in the Euclidean space to an arbitrary differrential manifol equipped with a metric. This modification is essencial...... on a Riemannian manifold. The Lyapnov stability theory is adapted and reformulated to fit to the new framework of Riemannian manifolds. Toillustrate the results a spacecraft attitude control problem is considered. Firstly, a global canonical representation for the spacecraft motion is found, then three spacecraft...
Attitude tracking control of flexible spacecraft with large amplitude slosh
Deng, Mingle; Yue, Baozeng
2017-12-01
This paper is focused on attitude tracking control of a spacecraft that is equipped with flexible appendage and partially filled liquid propellant tank. The large amplitude liquid slosh is included by using a moving pulsating ball model that is further improved to estimate the settling location of liquid in microgravity or a zero-g environment. The flexible appendage is modelled as a three-dimensional Bernoulli-Euler beam, and the assumed modal method is employed. A hybrid controller that combines sliding mode control with an adaptive algorithm is designed for spacecraft to perform attitude tracking. The proposed controller has proved to be asymptotically stable. A nonlinear model for the overall coupled system including spacecraft attitude dynamics, liquid slosh, structural vibration and control action is established. Numerical simulation results are presented to show the dynamic behaviors of the coupled system and to verify the effectiveness of the control approach when the spacecraft undergoes the disturbance produced by large amplitude slosh and appendage vibration. Lastly, the designed adaptive algorithm is found to be effective to improve the precision of attitude tracking.
Embedded Thermal Control for Spacecraft Subsystems Miniaturization
Didion, Jeffrey R.
2014-01-01
Optimization of spacecraft size, weight and power (SWaP) resources is an explicit technical priority at Goddard Space Flight Center. Embedded Thermal Control Subsystems are a promising technology with many cross cutting NSAA, DoD and commercial applications: 1.) CubeSatSmallSat spacecraft architecture, 2.) high performance computing, 3.) On-board spacecraft electronics, 4.) Power electronics and RF arrays. The Embedded Thermal Control Subsystem technology development efforts focus on component, board and enclosure level devices that will ultimately include intelligent capabilities. The presentation will discuss electric, capillary and hybrid based hardware research and development efforts at Goddard Space Flight Center. The Embedded Thermal Control Subsystem development program consists of interrelated sub-initiatives, e.g., chip component level thermal control devices, self-sensing thermal management, advanced manufactured structures. This presentation includes technical status and progress on each of these investigations. Future sub-initiatives, technical milestones and program goals will be presented.
Robust Parametric Control of Spacecraft Rendezvous
Dake Gu
2014-01-01
Full Text Available This paper proposes a method to design the robust parametric control for autonomous rendezvous of spacecrafts with the inertial information with uncertainty. We consider model uncertainty of traditional C-W equation to formulate the dynamic model of the relative motion. Based on eigenstructure assignment and model reference theory, a concise control law for spacecraft rendezvous is proposed which could be fixed through solving an optimization problem. The cost function considers the stabilization of the system and other performances. Simulation results illustrate the robustness and effectiveness of the proposed control.
Hybrid spacecraft attitude control system
Renuganth Varatharajoo; Ramly Ajir; Tamizi Ahmad
2016-01-01
The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS) consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl...
Wheel speed management control system for spacecraft
Goodzeit, Neil E. (Inventor); Linder, David M. (Inventor)
1991-01-01
A spacecraft attitude control system uses at least four reaction wheels. In order to minimize reaction wheel speed and therefore power, a wheel speed management system is provided. The management system monitors the wheel speeds and generates a wheel speed error vector. The error vector is integrated, and the error vector and its integral are combined to form a correction vector. The correction vector is summed with the attitude control torque command signals for driving the reaction wheels.
Development and evaluation of thermal model reduction algorithms for spacecraft
Deiml, Michael; Suderland, Martin; Reiss, Philipp; Czupalla, Markus
2015-05-01
This paper is concerned with the topic of the reduction of thermal models of spacecraft. The work presented here has been conducted in cooperation with the company OHB AG, formerly Kayser-Threde GmbH, and the Institute of Astronautics at Technische Universität München with the goal to shorten and automatize the time-consuming and manual process of thermal model reduction. The reduction of thermal models can be divided into the simplification of the geometry model for calculation of external heat flows and radiative couplings and into the reduction of the underlying mathematical model. For simplification a method has been developed which approximates the reduced geometry model with the help of an optimization algorithm. Different linear and nonlinear model reduction techniques have been evaluated for their applicability in reduction of the mathematical model. Thereby the compatibility with the thermal analysis tool ESATAN-TMS is of major concern, which restricts the useful application of these methods. Additional model reduction methods have been developed, which account to these constraints. The Matrix Reduction method allows the approximation of the differential equation to reference values exactly expect for numerical errors. The summation method enables a useful, applicable reduction of thermal models that can be used in industry. In this work a framework for model reduction of thermal models has been created, which can be used together with a newly developed graphical user interface for the reduction of thermal models in industry.
Flight mission control for multiple spacecraft
Ryan, Robert E.
1990-10-01
A plan developed by the Jet Propulsion Laboratory for mission control of unmanned spacecraft is outlined. A technical matrix organization from which, in the past, project teams were formed to uniquely support a mission is replaced in this new plan. A cost effective approach was needed to make best use of limited resources. Mission control is a focal point operations and a good place to start a multimission concept. Co-location and sharing common functions are the keys to obtaining efficiencies at minimum additional risk. For the projects, the major changes are sharing a common operations area and having indirect control of personnel. The plan identifies the still direct link for the mission control functions. Training is a major element in this plan. Personnel are qualified for a position and certified for a mission. This concept is more easily accepted by new missions than the ongoing missions.
Spacecraft attitude and velocity control system
Paluszek, Michael A. (Inventor); Piper, Jr., George E. (Inventor)
1992-01-01
A spacecraft attitude and/or velocity control system includes a controller which responds to at least attitude errors to produce command signals representing a force vector F and a torque vector T, each having three orthogonal components, which represent the forces and torques which are to be generated by the thrusters. The thrusters may include magnetic torquer or reaction wheels. Six difference equations are generated, three having the form ##EQU1## where a.sub.j is the maximum torque which the j.sup.th thruster can produce, b.sub.j is the maximum force which the j.sup.th thruster can produce, and .alpha..sub.j is a variable representing the throttling factor of the j.sup.th thruster, which may range from zero to unity. The six equations are summed to produce a single scalar equation relating variables .alpha..sub.j to a performance index Z: ##EQU2## Those values of .alpha. which maximize the value of Z are determined by a method for solving linear equations, such as a linear programming method. The Simplex method may be used. The values of .alpha..sub.j are applied to control the corresponding thrusters.
Tamer Mekky Ahmed Habib
2014-06-01
Full Text Available The main goal of this research is to establish spacecraft orbit and attitude control algorithms based on extended Kalman filter which provides estimates of spacecraft orbital and attitude states. The control and estimation algorithms must be capable of dealing with the spacecraft conditions during the detumbling and attitude acquisition modes of operation. These conditions are characterized by nonlinearities represented by large initial attitude angles, large initial angular velocities, large initial attitude estimation error, and large initial position estimation error. All of the developed estimation and control algorithms are suitable for application to the next Egyptian scientific satellite, EGYPTSAT-2. The parameters of the case-study spacecraft are similar but not identical to the former Egyptian satellite EGYPTSAT-1. This is done because the parameters of EGYPTSAT-2 satellite have not been consolidated yet. The sensors utilized are gyro, magnetometer, and GPS. Gyro and magnetometer are utilized to provide measurements for the estimates of spacecraft attitude state vector where as magnetometer and GPS are utilized to provide measurements for the estimates of spacecraft orbital state vector.
Experiments study on attitude coupling control method for flexible spacecraft
Wang, Jie; Li, Dongxu
2018-06-01
High pointing accuracy and stabilization are significant for spacecrafts to carry out Earth observing, laser communication and space exploration missions. However, when a spacecraft undergoes large angle maneuver, the excited elastic oscillation of flexible appendages, for instance, solar wing and onboard antenna, would downgrade the performance of the spacecraft platform. This paper proposes a coupling control method, which synthesizes the adaptive sliding mode controller and the positive position feedback (PPF) controller, to control the attitude and suppress the elastic vibration simultaneously. Because of its prominent performance for attitude tracking and stabilization, the proposed method is capable of slewing the flexible spacecraft with a large angle. Also, the method is robust to parametric uncertainties of the spacecraft model. Numerical simulations are carried out with a hub-plate system which undergoes a single-axis attitude maneuver. An attitude control testbed for the flexible spacecraft is established and experiments are conducted to validate the coupling control method. Both numerical and experimental results demonstrate that the method discussed above can effectively decrease the stabilization time and improve the attitude accuracy of the flexible spacecraft.
Dynamics and control of Lorentz-augmented spacecraft relative motion
Yan, Ye; Yang, Yueneng
2017-01-01
This book develops a dynamical model of the orbital motion of Lorentz spacecraft in both unperturbed and J2-perturbed environments. It explicitly discusses three kinds of typical space missions involving relative orbital control: spacecraft hovering, rendezvous, and formation flying. Subsequently, it puts forward designs for both open-loop and closed-loop control schemes propelled or augmented by the geomagnetic Lorentz force. These control schemes are entirely novel and represent a significantly departure from previous approaches.
On-orbit supervisor for controlling spacecraft
Vandervoort, Richard J.
1992-07-01
Spacecraft systems of the 1990's and beyond will be substantially more complex than their predecessors. They will have demanding performance requirements and will be expected to operate more autonomously. This underscores the need for innovative approaches to Fault Detection, Isolation and Recovery (FDIR). A hierarchical expert system is presented that provides on-orbit supervision using intelligent FDIR techniques. Each expert system in the hierarchy supervises the operation of a local set of spacecraft functions. Spacecraft operational goals flow top down while responses flow bottom up. The expert system supervisors have a fairly high degree of autonomy. Bureaucratic responsibilities are minimized to conserve bandwidth and maximize response time. Data for FDIR can be acquired local to an expert and from other experts. By using a blackboard architecture for each supervisor, the system provides a great degree of flexibility in implementing the problem solvers for each problem domain. In addition, it provides for a clear separation between facts and knowledge, leading to an efficient system capable of real time response.
Distributed Control Architectures for Precision Spacecraft Formations, Phase I
National Aeronautics and Space Administration — LaunchPoint Technologies, Inc. (LaunchPoint) proposes to develop synthesis methods and design architectures for distributed control systems in precision spacecraft...
Zou, An-Min; Kumar, Krishna Dev
2012-07-01
This brief considers the attitude coordination control problem for spacecraft formation flying when only a subset of the group members has access to the common reference attitude. A quaternion-based distributed attitude coordination control scheme is proposed with consideration of the input saturation and with the aid of the sliding-mode observer, separation principle theorem, Chebyshev neural networks, smooth projection algorithm, and robust control technique. Using graph theory and a Lyapunov-based approach, it is shown that the distributed controller can guarantee the attitude of all spacecraft to converge to a common time-varying reference attitude when the reference attitude is available only to a portion of the group of spacecraft. Numerical simulations are presented to demonstrate the performance of the proposed distributed controller.
Bevilacqua, R.; Lehmann, T.; Romano, M.
2011-04-01
This work introduces a novel control algorithm for close proximity multiple spacecraft autonomous maneuvers, based on hybrid linear quadratic regulator/artificial potential function (LQR/APF), for applications including autonomous docking, on-orbit assembly and spacecraft servicing. Both theoretical developments and experimental validation of the proposed approach are presented. Fuel consumption is sub-optimized in real-time through re-computation of the LQR at each sample time, while performing collision avoidance through the APF and a high level decisional logic. The underlying LQR/APF controller is integrated with a customized wall-following technique and a decisional logic, overcoming problems such as local minima. The algorithm is experimentally tested on a four spacecraft simulators test bed at the Spacecraft Robotics Laboratory of the Naval Postgraduate School. The metrics to evaluate the control algorithm are: autonomy of the system in making decisions, successful completion of the maneuver, required time, and propellant consumption.
Optimal Sliding Mode Controllers for Attitude Stabilization of Flexible Spacecraft
Chutiphon Pukdeboon
2011-01-01
Full Text Available The robust optimal attitude control problem for a flexible spacecraft is considered. Two optimal sliding mode control laws that ensure the exponential convergence of the attitude control system are developed. Integral sliding mode control (ISMC is applied to combine the first-order sliding mode with optimal control and is used to control quaternion-based spacecraft attitude manoeuvres with external disturbances and an uncertainty inertia matrix. For the optimal control part the state-dependent Riccati equation (SDRE and optimal Lyapunov techniques are employed to solve the infinite-time nonlinear optimal control problem. The second method of Lyapunov is used to guarantee the stability of the attitude control system under the action of the proposed control laws. An example of multiaxial attitude manoeuvres is presented and simulation results are included to verify the usefulness of the developed controllers.
An Expert System for Autonomous Spacecraft Control
Sherwood, Rob; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Davies, Ashley; Rabideau, Gregg
2005-01-01
The Autonomous Sciencecraft Experiment (ASE), part of the New Millennium Space Technology 6 Project, is flying onboard the Earth Orbiter 1 (EO-1) mission. The ASE software enables EO-1 to autonomously detect and respond to science events such as: volcanic activity, flooding, and water freeze/thaw. ASE uses classification algorithms to analyze imagery onboard to detect chang-e and science events. Detection of these events is then used to trigger follow-up imagery. Onboard mission planning software then develops a response plan that accounts for target visibility and operations constraints. This plan is then executed using a task execution system that can deal with run-time anomalies. In this paper we describe the autonomy flight software and how it enables a new paradigm of autonomous science and mission operations. We will also describe the current experiment status and future plans.
Model predictive control for spacecraft rendezvous in elliptical orbit
Li, Peng; Zhu, Zheng H.
2018-05-01
This paper studies the control of spacecraft rendezvous with attitude stable or spinning targets in an elliptical orbit. The linearized Tschauner-Hempel equation is used to describe the motion of spacecraft and the problem is formulated by model predictive control. The control objective is to maximize control accuracy and smoothness simultaneously to avoid unexpected change or overshoot of trajectory for safe rendezvous. It is achieved by minimizing the weighted summations of control errors and increments. The effects of two sets of horizons (control and predictive horizons) in the model predictive control are examined in terms of fuel consumption, rendezvous time and computational effort. The numerical results show the proposed control strategy is effective.
Spacecraft control center automation using the generic inferential executor (GENIE)
Hartley, Jonathan; Luczak, Ed; Stump, Doug
1996-01-01
The increasing requirement to dramatically reduce the cost of mission operations led to increased emphasis on automation technology. The expert system technology used at the Goddard Space Flight Center (MD) is currently being applied to the automation of spacecraft control center activities. The generic inferential executor (GENIE) is a tool which allows pass automation applications to be constructed. The pass script templates constructed encode the tasks necessary to mimic flight operations team interactions with the spacecraft during a pass. These templates can be configured with data specific to a particular pass. Animated graphical displays illustrate the progress during the pass. The first GENIE application automates passes of the solar, anomalous and magnetospheric particle explorer (SAMPEX) spacecraft.
Ravil’ Kudermetov
2018-02-01
Full Text Available Nowadays multi-core processors are installed almost in each modern workstation, but the question of these computational resources effective utilization is still a topical one. In this paper the four-point block one-step integration method is considered, the parallel algorithm of this method is proposed and the Java programmatic implementation of this algorithm is discussed. The effectiveness of the proposed algorithm is demonstrated by way of spacecraft attitude motion simulation. The results of this work can be used for practical simulation of dynamic systems that are described by ordinary differential equations. The results are also applicable to the development and debugging of computer programs that integrate the dynamic and kinematic equations of the angular motion of a rigid body.
Customizing graphical user interface technology for spacecraft control centers
Beach, Edward; Giancola, Peter; Gibson, Steven; Mahmot, Ronald
1993-01-01
The Transportable Payload Operations Control Center (TPOCC) project is applying the latest in graphical user interface technology to the spacecraft control center environment. This project of the Mission Operations Division's (MOD) Control Center Systems Branch (CCSB) at NASA Goddard Space Flight Center (GSFC) has developed an architecture for control centers which makes use of a distributed processing approach and the latest in Unix workstation technology. The TPOCC project is committed to following industry standards and using commercial off-the-shelf (COTS) hardware and software components wherever possible to reduce development costs and to improve operational support. TPOCC's most successful use of commercial software products and standards has been in the development of its graphical user interface. This paper describes TPOCC's successful use and customization of four separate layers of commercial software products to create a flexible and powerful user interface that is uniquely suited to spacecraft monitoring and control.
Cheng, Yu; Ye, Dong; Sun, Zhaowei; Zhang, Shijie
2018-03-01
This paper proposes a novel feedback control law for spacecraft to deal with attitude constraint, input saturation, and stochastic disturbance during the attitude reorientation maneuver process. Applying the parameter selection method to improving the existence conditions for the repulsive potential function, the universality of the potential-function-based algorithm is enhanced. Moreover, utilizing the auxiliary system driven by the difference between saturated torque and command torque, a backstepping control law, which satisfies the input saturation constraint and guarantees the spacecraft stability, is presented. Unlike some methods that passively rely on the inherent characteristic of the existing controller to stabilize the adverse effects of external stochastic disturbance, this paper puts forward a nonlinear disturbance observer to compensate the disturbance in real-time, which achieves a better performance of robustness. The simulation results validate the effectiveness, reliability, and universality of the proposed control law.
Embedded Thermal Control for Subsystems for Next Generation Spacecraft Applications
Didion, Jeffrey R.
2015-01-01
Thermal Fluids and Analysis Workshop, Silver Spring MD NCTS 21070-15. NASA, the Defense Department and commercial interests are actively engaged in developing miniaturized spacecraft systems and scientific instruments to leverage smaller cheaper spacecraft form factors such as CubeSats. This paper outlines research and development efforts among Goddard Space Flight Center personnel and its several partners to develop innovative embedded thermal control subsystems. Embedded thermal control subsystems is a cross cutting enabling technology integrating advanced manufacturing techniques to develop multifunctional intelligent structures to reduce Size, Weight and Power (SWaP) consumption of both the thermal control subsystem and overall spacecraft. Embedded thermal control subsystems permit heat acquisition and rejection at higher temperatures than state of the art systems by employing both advanced heat transfer equipment (integrated heat exchangers) and high heat transfer phenomena. The Goddard Space Flight Center Thermal Engineering Branch has active investigations seeking to characterize advanced thermal control systems for near term spacecraft missions. The embedded thermal control subsystem development effort consists of fundamental research as well as development of breadboard and prototype hardware and spaceflight validation efforts. This paper will outline relevant fundamental investigations of micro-scale heat transfer and electrically driven liquid film boiling. The hardware development efforts focus upon silicon based high heat flux applications (electronic chips, power electronics etc.) and multifunctional structures. Flight validation efforts include variable gravity campaigns and a proposed CubeSat based flight demonstration of a breadboard embedded thermal control system. The CubeSat investigation is technology demonstration will characterize in long-term low earth orbit a breadboard embedded thermal subsystem and its individual components to develop
Robust H∞ Control for Spacecraft Rendezvous with a Noncooperative Target
Shu-Nan Wu
2013-01-01
Full Text Available The robust H∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H∞ performance and finite time performance are proposed, and a robust H∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller.
Subcubic Control Flow Analysis Algorithms
Midtgaard, Jan; Van Horn, David
We give the first direct subcubic algorithm for performing control flow analysis of higher-order functional programs. Despite the long held belief that inclusion-based flow analysis could not surpass the ``cubic bottleneck, '' we apply known set compression techniques to obtain an algorithm...... that runs in time O(n^3/log n) on a unit cost random-access memory model machine. Moreover, we refine the initial flow analysis into two more precise analyses incorporating notions of reachability. We give subcubic algorithms for these more precise analyses and relate them to an existing analysis from...
The Earth Observing System AM Spacecraft - Thermal Control Subsystem
Chalmers, D.; Fredley, J.; Scott, C.
1993-01-01
Mission requirements for the EOS-AM Spacecraft intended to monitor global changes of the entire earth system are considered. The spacecraft is based on an instrument set containing the Advanced Spaceborne Thermal Emission and Reflection radiometer (ASTER), Clouds and Earth's Radiant Energy System (CERES), Multiangle Imaging Spectro-Radiometer (MISR), Moderate-Resolution Imaging Spectrometer (MODIS), and Measurements of Pollution in the Troposphere (MOPITT). Emphasis is placed on the design, analysis, development, and verification plans for the unique EOS-AM Thermal Control Subsystem (TCS) aimed at providing the required environments for all the onboard equipment in a densely packed layout. The TCS design maximizes the use of proven thermal design techniques and materials, in conjunction with a capillary pumped two-phase heat transport system for instrument thermal control.
Preliminary Test of Adaptive Neuro-Fuzzy Inference System Controller for Spacecraft Attitude Control
Sung-Woo Kim
2012-12-01
Full Text Available The problem of spacecraft attitude control is solved using an adaptive neuro-fuzzy inference system (ANFIS. An ANFIS produces a control signal for one of the three axes of a spacecraft’s body frame, so in total three ANFISs are constructed for 3-axis attitude control. The fuzzy inference system of the ANFIS is initialized using a subtractive clustering method. The ANFIS is trained by a hybrid learning algorithm using the data obtained from attitude control simulations using state-dependent Riccati equation controller. The training data set for each axis is composed of state errors for 3 axes (roll, pitch, and yaw and a control signal for one of the 3 axes. The stability region of the ANFIS controller is estimated numerically based on Lyapunov stability theory using a numerical method to calculate Jacobian matrix. To measure the performance of the ANFIS controller, root mean square error and correlation factor are used as performance indicators. The performance is tested on two ANFIS controllers trained in different conditions. The test results show that the performance indicators are proper in the sense that the ANFIS controller with the larger stability region provides better performance according to the performance indicators.
Dzielski, John Edward
1988-01-01
Recent developments in the area of nonlinear control theory have shown how coordiante changes in the state and input spaces can be used with nonlinear feedback to transform certain nonlinear ordinary differential equations into equivalent linear equations. These feedback linearization techniques are applied to resolve two problems arising in the control of spacecraft equipped with control moment gyroscopes (CMGs). The first application involves the computation of rate commands for the gimbals that rotate the individual gyroscopes to produce commanded torques on the spacecraft. The second application is to the long-term management of stored momentum in the system of control moment gyroscopes using environmental torques acting on the vehicle. An approach to distributing control effort among a group of redundant actuators is described that uses feedback linearization techniques to parameterize sets of controls which influence a specified subsystem in a desired way. The approach is adapted for use in spacecraft control with double-gimballed gyroscopes to produce an algorithm that avoids problematic gimbal configurations by approximating sets of gimbal rates that drive CMG rotors into desirable configurations. The momentum management problem is stated as a trajectory optimization problem with a nonlinear dynamical constraint. Feedback linearization and collocation are used to transform this problem into an unconstrainted nonlinear program. The approach to trajectory optimization is fast and robust. A number of examples are presented showing applications to the proposed NASA space station.
NASA Workshop on Hybrid (Mixed-Actuator) Spacecraft Attitude Control
Dennehy, Cornelius J.; Kunz, Nans
2014-01-01
At the request of the Science Mission Directorate Chief Engineer, the NASA Technical Fellow for Guidance, Navigation & Control assembled and facilitated a workshop on Spacecraft Hybrid Attitude Control. This multi-Center, academic, and industry workshop, sponsored by the NASA Engineering and Safety Center (NESC), was held in April 2013 to unite nationwide experts to present and discuss the various innovative solutions, techniques, and lessons learned regarding the development and implementation of the various hybrid attitude control system solutions investigated or implemented. This report attempts to document these key lessons learned with the 16 findings and 9 NESC recommendations.
Antimicrobial Materials for Advanced Microbial Control in Spacecraft Water Systems
Birmele, Michele; Caro, Janicce; Newsham, Gerard; Roberts, Michael; Morford, Megan; Wheeler, Ray
2012-01-01
Microbial detection, identification, and control are essential for the maintenance and preservation of spacecraft water systems. Requirements set by NASA put limitations on the energy, mass, materials, noise, cost, and crew time that can be devoted to microbial control. Efforts are being made to attain real-time detection and identification of microbial contamination in microgravity environments. Research for evaluating technologies for capability enhancement on-orbit is currently focused on the use of adenosine triphosphate (ATP) analysis for detection purposes and polymerase chain reaction (peR) for microbial identification. Additional research is being conducted on how to control for microbial contamination on a continual basis. Existing microbial control methods in spacecraft utilize iodine or ionic silver biocides, physical disinfection, and point-of-use sterilization filters. Although these methods are effective, they require re-dosing due to loss of efficacy, have low human toxicity thresholds, produce poor taste, and consume valuable mass and crew time. Thus, alternative methods for microbial control are needed. This project also explores ultraviolet light-emitting diodes (UV-LEDs), surface passivation methods for maintaining residual biocide levels, and several antimicrobial materials aimed at improving current microbial control techniques, as well as addressing other materials presently under analysis and future directions to be pursued.
Performance of silvered Teflon (trademark) thermal control blankets on spacecraft
Pippin, Gary; Stuckey, Wayne; Hemminger, Carol
1993-01-01
Silverized Teflon (Ag/FEP) is a widely used passive thermal control material for space applications. The material has a very low alpha/e ratio (less than 0.1) for low operating temperatures and is fabricated with various FEP thicknesses (as the Teflon thickness increases, the emittance increases). It is low outgassing and, because of its flexibility, can be applied around complex, curved shapes. Ag/FEP has achieved multiyear lifetimes under a variety of exposure conditions. This has been demonstrated by the Long Duration Exposure Facility (LDEF), Solar Max, Spacecraft Charging at High Altitudes (SCATHA), and other flight experiments. Ag/FEP material has been held in place on spacecraft by a variety of methods: mechanical clamping, direct adhesive bonding of tapes and sheets, and by Velcro(TM) tape adhesively bonded to back surfaces. On LDEF, for example, 5-mil blankets held by Velcro(TM) and clamping were used for thermal control over 3- by 4-ft areas on each of 17 trays. Adhesively bonded 2- and 5-mil sheets were used on other LDEF experiments, both for thermal control and as tape to hold other thermal control blankets in place. Performance data over extended time periods are available from a number of flights. The observed effects on optical properties, mechanical properties, and surface chemistry will be summarized in this paper. This leads to a discussion of performance life estimates and other design lessons for Ag/FEP thermal control material.
Flexible spacecraft dynamics, control and guidance technologies by giovanni campolo
Mazzini, Leonardo
2016-01-01
This book is an up-to-date compendium on spacecraft attitude and orbit control (AOC) that offers a systematic and complete treatment of the subject with the aim of imparting the theoretical and practical knowledge that is required by designers, engineers, and researchers. After an introduction on the kinematics of the flexible and agile space vehicles, the modern architecture and functions of an AOC system are described and the main AOC modes reviewed with possible design solutions and examples. The dynamics of the flexible body in space are then considered using an original Lagrangian approach suitable for the control applications of large space flexible structures. Subsequent chapters address optimal control theory, attitude control methods, and orbit control applications, including the optimal orbital transfer with finite and infinite thrust. The theory is integrated with a description of current propulsion systems, with the focus especially on the new electric propulsion systems and state of the art senso...
On spacecraft maneuvers control subject to propellant engine modes.
Mazinan, A H
2015-09-01
The paper attempts to address a new control approach to spacecraft maneuvers based upon the modes of propellant engine. A realization of control strategy is now presented in engine on mode (high thrusts as well as further low thrusts), which is related to small angle maneuvers and engine off mode (specified low thrusts), which is also related to large angle maneuvers. There is currently a coarse-fine tuning in engine on mode. It is shown that the process of handling the angular velocities are finalized via rate feedback system in engine modes, where the angular rotations are controlled through quaternion based control (QBCL)strategy in engine off mode and these ones are also controlled through an optimum PID (OPIDH) strategy in engine on mode. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
A user's guide to the Flexible Spacecraft Dynamics and Control Program
Fedor, J. V.
1984-01-01
A guide to the use of the Flexible Spacecraft Dynamics Program (FSD) is presented covering input requirements, control words, orbit generation, spacecraft description and simulation options, and output definition. The program can be used in dynamics and control analysis as well as in orbit support of deployment and control of spacecraft. The program is applicable to inertially oriented spinning, Earth oriented or gravity gradient stabilized spacecraft. Internal and external environmental effects can be simulated.
Feedback attitude sliding mode regulation control of spacecraft using arm motion
Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu
2013-09-01
The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.
Periodic H-2 Synthesis for Spacecraft Attitude Control with Magnetometers
Wisniewski, Rafal; Stoustrup, Jakob
2004-01-01
between the Earth´s magnetic field and an artificial magnetic field generated by the coils produces a control torque. The magnetic attitude control is intrinsically periodic due to cyclic variation of the geomagnetic field in orbit. The control performance is specified by the generalized H2 operator norm....... A linear matrix inequality-based algorithm is proposed for attitude control synthesis. Simulation results are provided, showing the prospect of the concept for onboard implementation....
Definition of the topological structure of the automatic control system of spacecrafts
KrasnoyarskiyRabochiy prospect, Krasnoyarsk, 660014 (Russian Federation))" data-affiliation=" (Siberian State Aerospace University named after Academician M.F.Reshetnev 31 KrasnoyarskiyRabochiy prospect, Krasnoyarsk, 660014 (Russian Federation))" >Zelenkov, P V; KrasnoyarskiyRabochiy prospect, Krasnoyarsk, 660014 (Russian Federation))" data-affiliation=" (Siberian State Aerospace University named after Academician M.F.Reshetnev 31 KrasnoyarskiyRabochiy prospect, Krasnoyarsk, 660014 (Russian Federation))" >Karaseva, M V; KrasnoyarskiyRabochiy prospect, Krasnoyarsk, 660014 (Russian Federation))" data-affiliation=" (Siberian State Aerospace University named after Academician M.F.Reshetnev 31 KrasnoyarskiyRabochiy prospect, Krasnoyarsk, 660014 (Russian Federation))" >Tsareva, E A; Tsarev, R Y
2015-01-01
The paper considers the problem of selection the topological structure of the automated control system of spacecrafts. The integer linear model of mathematical programming designed to define the optimal topological structure for spacecraft control is proposed. To solve the determination problem of topological structure of the control system of spacecrafts developed the procedure of the directed search of some structure variants according to the scheme 'Branch and bound'. The example of the automated control system of spacecraft development included the combination of ground control stations, managing the spacecraft of three classes with a geosynchronous orbit with constant orbital periods is presented
Keum, Jung-Hoon; Ra, Sung-Woong
2009-12-01
Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.
Spacecraft formation control using analytical finite-duration approaches
Ben Larbi, Mohamed Khalil; Stoll, Enrico
2018-03-01
This paper derives a control concept for formation flight (FF) applications assuming circular reference orbits. The paper focuses on a general impulsive control concept for FF which is then extended to the more realistic case of non-impulsive thrust maneuvers. The control concept uses a description of the FF in relative orbital elements (ROE) instead of the classical Cartesian description since the ROE provide a direct insight into key aspects of the relative motion and are particularly suitable for relative orbit control purposes and collision avoidance analysis. Although Gauss' variational equations have been first derived to offer a mathematical tool for processing orbit perturbations, they are suitable for several different applications. If the perturbation acceleration is due to a control thrust, Gauss' variational equations show the effect of such a control thrust on the Keplerian orbital elements. Integrating the Gauss' variational equations offers a direct relation between velocity increments in the local vertical local horizontal frame and the subsequent change of Keplerian orbital elements. For proximity operations, these equations can be generalized from describing the motion of single spacecraft to the description of the relative motion of two spacecraft. This will be shown for impulsive and finite-duration maneuvers. Based on that, an analytical tool to estimate the error induced through impulsive maneuver planning is presented. The resulting control schemes are simple and effective and thus also suitable for on-board implementation. Simulations show that the proposed concept improves the timing of the thrust maneuver executions and thus reduces the residual error of the formation control.
Hu Shaolin; Zhang Wei; Li Ye; Fan Shunxi
2011-01-01
The exponential smoothing prediction algorithm is widely used in spaceflight control and in process monitoring as well as in economical prediction. There are two key conundrums which are open: one is about the selective rule of the parameter in the exponential smoothing prediction, and the other is how to improve the bad influence of outliers on prediction. In this paper a new practical outlier-tolerant algorithm is built to select adaptively proper parameter, and the exponential smoothing pr...
Slew Maneuver Control for Spacecraft Equipped with Star Camera and Reaction Wheels
Wisniewski, Rafal; Kulczycki, P.
2005-01-01
A configuration consisting of a star camera, four reaction wheels and magnetorquers for momentum unloading has become standard for many spacecraft missions. This popularity has motivated numerous agencies and private companies to initiate work on the design of an imbedded attitude control system...... realized on an integrated circuit. This paper provides an easily implementable control algorithm for this type of configuration. The paper considers two issues: slew maneuver with a feature of avoiding direct exposure of the camera's CCD chip to the Sun %, three-axis attitude control and optimal control...... torque distribution in a reaction wheel assembly. The attitude controller is synthesized applying the energy shaping technique, where the desired potential function is carefully designed using a physical insight into the nature of the problem. The system stability is thoroughly analyzed and the control...
Attitude and Configuration Control of Flexible Multi-Body Spacecraft
Cho, Sung-Ki; Cochran, John E., Jr.
2002-06-01
Multi-body spacecraft attitude and configuration control formulations based on the use of collaborative control theory are considered. The control formulations are based on two-player, nonzero-sum, differential game theory applied using a Nash strategy. It is desired that the control laws allow different components of the multi-body system to perform different tasks. For example, it may be desired that one body points toward a fixed star while another body in the system slews to track another satellite. Although similar to the linear quadratic regulator formulation, the collaborative control formulation contains a number of additional design parameters because the problem is formulated as two control problems coupled together. The use of the freedom of the partitioning of the total problem into two coupled control problems and the selection of the elements of the cross-coupling matrices are specific problems addressed in this paper. Examples are used to show that significant improvement in performance, as measured by realistic criteria, of collaborative control over conventional linear quadratic regulator control can be achieved by using proposed design guidelines.
Attitude and Configuration Control of Flexible Multi-Body Spacecraft
Sungki Cho
2002-06-01
Full Text Available Multi-body spacecraft attitude and configuration control formulations based on the use of collaborative control theory are considered. The control formulations are based on two-player, nonzero-sum, differential game theory applied using a Nash strategy. It is desired that the control laws allow different components of the multi-body system to perform different tasks. For example, it may be desired that one body points toward a fixed star while another body in the system slews to track another satellite. Although similar to the linear quadratic regulator formulation, the collaborative control formulation contains a number of additional design parameters because the problem is formulated as two control problems coupled together. The use of the freedom of the partitioning of the total problem into two coupled control problems and the selection of the elements of the cross-coupling matrices are specific problems addressed in this paper. Examples are used to show that significant improvement in performance, as measured by realistic criteria, of collaborative control over conventional linear quadratic regulator control can be achieved by using proposed design guidelines.
Tamer Mekky Ahmed Habib
2012-06-01
Full Text Available The primary objective of this work is to develop an effective spacecraft orbit control algorithm suitable for spacecraft orbital maneuver and/or rendezvous. The actual governing equation of a spacecraft orbiting the earth is merely nonlinear. Disturbance forces resulting from aerodynamic drag, oblateness of the earth till the fourth order (i.e. J4, and random disturbances are modeled for the initial and target orbits. These disturbances increase the complexity of nonlinear governing equations. Global optimum solutions of the control algorithm parameters are determined throughout real coded genetic algorithms such that the steady state difference between the actual and desired trajectories is minimized. The resulting solutions are constrained to avoid spacecraft collision with the surface of the earth taking into account limited thrust budget.
Spacecraft Charging: Hazard Causes, Hazard Effects, Hazard Controls
Koontz, Steve.
2018-01-01
Spacecraft flight environments are characterized both by a wide range of space plasma conditions and by ionizing radiation (IR), solar ultraviolet and X-rays, magnetic fields, micrometeoroids, orbital debris, and other environmental factors, all of which can affect spacecraft performance. Dr. Steven Koontz's lecture will provide a solid foundation in the basic engineering physics of spacecraft charging and charging effects that can be applied to solving practical spacecraft and spacesuit engineering design, verification, and operations problems, with an emphasis on spacecraft operations in low-Earth orbit, Earth's magnetosphere, and cis-Lunar space.
Thermal control system. [removing waste heat from industrial process spacecraft
Hewitt, D. R. (Inventor)
1983-01-01
The temperature of an exothermic process plant carried aboard an Earth orbiting spacecraft is regulated using a number of curved radiator panels accurately positioned in a circular arrangement to form an open receptacle. A module containing the process is insertable into the receptacle. Heat exchangers having broad exterior surfaces extending axially above the circumference of the module fit within arcuate spacings between adjacent radiator panels. Banks of variable conductance heat pipes partially embedded within and thermally coupled to the radiator panels extend across the spacings and are thermally coupled to broad exterior surfaces of the heat exchangers by flanges. Temperature sensors monitor the temperature of process fluid flowing from the module through the heat exchanges. Thermal conduction between the heat exchangers and the radiator panels is regulated by heating a control fluid within the heat pipes to vary the effective thermal length of the heat pipes in inverse proportion to changes in the temperature of the process fluid.
Spacecraft angular velocity estimation algorithm for star tracker based on optical flow techniques
Tang, Yujie; Li, Jian; Wang, Gangyi
2018-02-01
An integrated navigation system often uses the traditional gyro and star tracker for high precision navigation with the shortcomings of large volume, heavy weight and high-cost. With the development of autonomous navigation for deep space and small spacecraft, star tracker has been gradually used for attitude calculation and angular velocity measurement directly. At the same time, with the dynamic imaging requirements of remote sensing satellites and other imaging satellites, how to measure the angular velocity in the dynamic situation to improve the accuracy of the star tracker is the hotspot of future research. We propose the approach to measure angular rate with a nongyro and improve the dynamic performance of the star tracker. First, the star extraction algorithm based on morphology is used to extract the star region, and the stars in the two images are matched according to the method of angular distance voting. The calculation of the displacement of the star image is measured by the improved optical flow method. Finally, the triaxial angular velocity of the star tracker is calculated by the star vector using the least squares method. The method has the advantages of fast matching speed, strong antinoise ability, and good dynamic performance. The triaxial angular velocity of star tracker can be obtained accurately with these methods. So, the star tracker can achieve better tracking performance and dynamic attitude positioning accuracy to lay a good foundation for the wide application of various satellites and complex space missions.
Control algorithms for dynamic attenuators
Hsieh, Scott S., E-mail: sshsieh@stanford.edu [Department of Radiology, Stanford University, Stanford, California 94305 and Department of Electrical Engineering, Stanford University, Stanford, California 94305 (United States); Pelc, Norbert J. [Department of Radiology, Stanford University, Stanford California 94305 and Department of Bioengineering, Stanford University, Stanford, California 94305 (United States)
2014-06-15
Purpose: The authors describe algorithms to control dynamic attenuators in CT and compare their performance using simulated scans. Dynamic attenuators are prepatient beam shaping filters that modulate the distribution of x-ray fluence incident on the patient on a view-by-view basis. These attenuators can reduce dose while improving key image quality metrics such as peak or mean variance. In each view, the attenuator presents several degrees of freedom which may be individually adjusted. The total number of degrees of freedom across all views is very large, making many optimization techniques impractical. The authors develop a theory for optimally controlling these attenuators. Special attention is paid to a theoretically perfect attenuator which controls the fluence for each ray individually, but the authors also investigate and compare three other, practical attenuator designs which have been previously proposed: the piecewise-linear attenuator, the translating attenuator, and the double wedge attenuator. Methods: The authors pose and solve the optimization problems of minimizing the mean and peak variance subject to a fixed dose limit. For a perfect attenuator and mean variance minimization, this problem can be solved in simple, closed form. For other attenuator designs, the problem can be decomposed into separate problems for each view to greatly reduce the computational complexity. Peak variance minimization can be approximately solved using iterated, weighted mean variance (WMV) minimization. Also, the authors develop heuristics for the perfect and piecewise-linear attenuators which do not requirea priori knowledge of the patient anatomy. The authors compare these control algorithms on different types of dynamic attenuators using simulated raw data from forward projected DICOM files of a thorax and an abdomen. Results: The translating and double wedge attenuators reduce dose by an average of 30% relative to current techniques (bowtie filter with tube current
Control algorithms for dynamic attenuators
Hsieh, Scott S.; Pelc, Norbert J.
2014-01-01
Purpose: The authors describe algorithms to control dynamic attenuators in CT and compare their performance using simulated scans. Dynamic attenuators are prepatient beam shaping filters that modulate the distribution of x-ray fluence incident on the patient on a view-by-view basis. These attenuators can reduce dose while improving key image quality metrics such as peak or mean variance. In each view, the attenuator presents several degrees of freedom which may be individually adjusted. The total number of degrees of freedom across all views is very large, making many optimization techniques impractical. The authors develop a theory for optimally controlling these attenuators. Special attention is paid to a theoretically perfect attenuator which controls the fluence for each ray individually, but the authors also investigate and compare three other, practical attenuator designs which have been previously proposed: the piecewise-linear attenuator, the translating attenuator, and the double wedge attenuator. Methods: The authors pose and solve the optimization problems of minimizing the mean and peak variance subject to a fixed dose limit. For a perfect attenuator and mean variance minimization, this problem can be solved in simple, closed form. For other attenuator designs, the problem can be decomposed into separate problems for each view to greatly reduce the computational complexity. Peak variance minimization can be approximately solved using iterated, weighted mean variance (WMV) minimization. Also, the authors develop heuristics for the perfect and piecewise-linear attenuators which do not requirea priori knowledge of the patient anatomy. The authors compare these control algorithms on different types of dynamic attenuators using simulated raw data from forward projected DICOM files of a thorax and an abdomen. Results: The translating and double wedge attenuators reduce dose by an average of 30% relative to current techniques (bowtie filter with tube current
Control algorithms for dynamic attenuators.
Hsieh, Scott S; Pelc, Norbert J
2014-06-01
The authors describe algorithms to control dynamic attenuators in CT and compare their performance using simulated scans. Dynamic attenuators are prepatient beam shaping filters that modulate the distribution of x-ray fluence incident on the patient on a view-by-view basis. These attenuators can reduce dose while improving key image quality metrics such as peak or mean variance. In each view, the attenuator presents several degrees of freedom which may be individually adjusted. The total number of degrees of freedom across all views is very large, making many optimization techniques impractical. The authors develop a theory for optimally controlling these attenuators. Special attention is paid to a theoretically perfect attenuator which controls the fluence for each ray individually, but the authors also investigate and compare three other, practical attenuator designs which have been previously proposed: the piecewise-linear attenuator, the translating attenuator, and the double wedge attenuator. The authors pose and solve the optimization problems of minimizing the mean and peak variance subject to a fixed dose limit. For a perfect attenuator and mean variance minimization, this problem can be solved in simple, closed form. For other attenuator designs, the problem can be decomposed into separate problems for each view to greatly reduce the computational complexity. Peak variance minimization can be approximately solved using iterated, weighted mean variance (WMV) minimization. Also, the authors develop heuristics for the perfect and piecewise-linear attenuators which do not require a priori knowledge of the patient anatomy. The authors compare these control algorithms on different types of dynamic attenuators using simulated raw data from forward projected DICOM files of a thorax and an abdomen. The translating and double wedge attenuators reduce dose by an average of 30% relative to current techniques (bowtie filter with tube current modulation) without
Passive Set-Point Thermal Control Skin for Spacecraft, Phase I
National Aeronautics and Space Administration — Current manned and unmanned spacecraft require sophisticated thermal control technologies to keep systems at temperatures within their proper operating ranges....
Andriopoulou, M.; Nakamura, R.; Torkar, K.; Baumjohann, W.; Torbert, R. B.; Lindqvist, P.-A.; Khotyaintsev, Y. V.; Dorelli, John Charles; Burch, J. L.; Russell, C. T.
2016-01-01
Each spacecraft of the recently launched magnetospheric multiscale MMS mission is equipped with Active Spacecraft Potential Control (ASPOC) Instruments, which control the spacecraft potential in order to reduce spacecraft charging effects. ASPOC typically reduces the spacecraft potential to a few volts. On several occasions during the commissioning phase of the mission, the ASPOC instruments were operating only on one spacecraft at a time. Taking advantage of such intervals, we derive photoelectron curves and also perform reconstructions of the uncontrolled spacecraft potential for the spacecraft with active control and estimate the electron plasma density during those periods. We also establish the criteria under which our methods can be applied.
Control Algorithms Charge Batteries Faster
2012-01-01
On March 29, 2011, NASA s Mercury Surface, Space Environment, Geochemistry and Ranging (MESSENGER) spacecraft beamed a milestone image to Earth: the first photo of Mercury taken from orbit around the solar system s innermost planet. (MESSENGER is also the first spacecraft to orbit Mercury.) Like most of NASA s deep space probes, MESSENGER is enabled by a complex power system that allows its science instruments and communications to function continuously as it travels millions of miles from Earth. "Typically, there isn't one particular power source that can support the entire mission," says Linda Taylor, electrical engineer in Glenn Research Center s Power Systems Analysis Branch. "If you have solar arrays and you are in orbit, at some point you re going to be in eclipse." Because of this, Taylor explains, spacecraft like MESSENGER feature hybrid power systems. MESSENGER is powered by a two-panel solar array coupled with a nickel hydrogen battery. The solar arrays provide energy to the probe and charge the battery; when the spacecraft s orbit carries it behind Mercury and out of the Sun s light, the spacecraft switches to battery power to continue operations. Typically, hybrid systems with multiple power inputs and a battery acting alternately as storage and a power source require multiple converters to handle the power flow between the devices, Taylor says. (Power converters change the qualities of electrical energy, such as from alternating current to direct current, or between different levels of voltage or frequency.) This contributes to a pair of major concerns for spacecraft design. "Weight and size are big drivers for any space application," Taylor says, noting that every pound added to a space vehicle incurs significant costs. For an innovative solution to managing power flows in a lightweight, cost-effective manner, NASA turned to a private industry partner.
Bristow, John; Bauer, Frank; Hartman, Kate; How, Jonathan
2000-01-01
Formation Flying is revolutionizing the way the space community conducts science missions around the Earth and in deep space. This technological revolution will provide new, innovative ways for the community to gather scientific information, share that information between space vehicles and the ground, and expedite the human exploration of space. Once fully matured, formation flying will result in numerous sciencecraft acting as virtual platforms and sensor webs, gathering significantly more and better science data than call be collected today. To achieve this goal, key technologies must be developed including those that address the following basic questions posed by the spacecraft: Where am I? Where is the rest of the fleet? Where do I need to be? What do I have to do (and what am I able to do) to get there? The answers to these questions and the means to implement those answers will depend oil the specific mission needs and formation configuration. However, certain critical technologies are common to most formations. These technologies include high-precision position and relative-position knowledge including Global Positioning System (GPS) mid celestial navigation; high degrees of spacecraft autonomy inter-spacecraft communication capabilities; targeting and control including distributed control algorithms, and high precision control thrusters and actuators. This paper provides an overview of a selection of the current activities NASA/DoD/Industry/Academia are working to develop Formation Flying technologies as quickly as possible, the hurdles that need to be overcome to achieve our formation flying vision, and the team's approach to transfer this technology to space. It will also describe several of the formation flying testbeds, such as Orion and University Nanosatellites, that are being developed to demonstrate and validate many of these innovative sensing and formation control technologies.
Adaptive super twisting vibration control of a flexible spacecraft with state rate estimation
Malekzadeh, Maryam; Karimpour, Hossein
2018-05-01
The robust attitude and vibration control of a flexible spacecraft trying to perform accurate maneuvers in spite of various sources of uncertainty is addressed here. Difficulties for achieving precise and stable pointing arise from noisy onboard sensors, parameters indeterminacy, outer disturbances as well as un-modeled or hidden dynamics interactions. Based on high-order sliding-mode methods, the non-minimum phase nature of the problem is dealt with through output redefinition. An adaptive super-twisting algorithm (ASTA) is incorporated with its observer counterpart on the system under consideration to get reliable attitude and vibration control in the presence of sensor noise and momentum coupling. The closed-loop efficiency is verified through simulations under various indeterminate situations and got compared to other methods.
Modeling SMAP Spacecraft Attitude Control Estimation Error Using Signal Generation Model
Rizvi, Farheen
2016-01-01
Two ground simulation software are used to model the SMAP spacecraft dynamics. The CAST software uses a higher fidelity model than the ADAMS software. The ADAMS software models the spacecraft plant, controller and actuator models, and assumes a perfect sensor and estimator model. In this simulation study, the spacecraft dynamics results from the ADAMS software are used as CAST software is unavailable. The main source of spacecraft dynamics error in the higher fidelity CAST software is due to the estimation error. A signal generation model is developed to capture the effect of this estimation error in the overall spacecraft dynamics. Then, this signal generation model is included in the ADAMS software spacecraft dynamics estimate such that the results are similar to CAST. This signal generation model has similar characteristics mean, variance and power spectral density as the true CAST estimation error. In this way, ADAMS software can still be used while capturing the higher fidelity spacecraft dynamics modeling from CAST software.
Moon, II, Ron L
2005-01-01
...) development environment into an FPGA-based embedded-platform development board. Research at the Naval Postgraduate School has produced a revolutionary time-optimal spacecraft control algorithm based upon the Legendre Pseudospectral method...
Odor Control in Spacecraft Waste Management, Phase I
National Aeronautics and Space Administration — Spacecraft and lunar bases generate a variety of wastes containing water, including food wastes, feces, and brines. Disposal of these wastes, as well as recovery of...
Internal Mass Motion for Spacecraft Dynamics and Control
Hall, Christopher D
2008-01-01
We present a detailed description of the application of a noncanonical Hamiltonian formulation to the modeling, analysis, and simulation of the dynamics of gyrostat spacecraft with internal mass motion...
Studies on black anodic coatings for spacecraft thermal control applications
Uma Rani, R.; Subba Rao, Y.; Sharma, A.K. [ISRO Satellite Centre, Bangalore (India). Thermal Systems Group
2011-10-15
An inorganic black colouring process using nickel sulphate and sodium sulphide was investigated on anodized aluminium alloy 6061 to provide a flat absorber black coating for spacecraft thermal control applications. Influence of colouring process parameters (concentration, pH) on the physico-optical properties of black anodic film was investigated. The nature of black anodic film was evaluated by the measurement of film thickness, micro hardness and scanning electron microscopy (SEM). Energy dispersive X-ray spectroscopy studies confirmed the presence of nickel and sulphur in the black anodic coating. Electrochemical impedance spectroscopy (EIS) was used to evaluate the corrosion resistance of the coating. The environmental tests, namely, humidity, corrosion resistance, thermal cycling and thermo vacuum performance tests were used to evaluate the space worthiness of the coating. Optical properties of the film were measured before and after each environmental test to ascertain its stability in harsh space environment. The black anodic films provide higher thermal emittance ({proportional_to} 0.90) and solar absorptance ({proportional_to} 0.96) and their high stability during the environmental tests indicated their suitability for space and allied applications. (orig.)
Bogorad, A.; Lichtin, D. A.; Bowman, C.; Armenti, J.; Pencil, E.; Sarmiento, C.
1992-01-01
Arcjet thrusters are soon to be used for north/south stationkeeping on commercial communications satellites. A series of tests was performed to evaluate the possible effects of these thrusters on spacecraft charging and the degradation of thermal control material. During the tests the interaction between arcjet plumes and both charged and uncharged surfaces did not cause any significant material degradation. In addition, firing an arcjet thruster benignly reduced the potential of charged surfaces to near zero.
Onboard Risk-Aware Real-Time Motion Planning Algorithms for Spacecraft Maneuvering
National Aeronautics and Space Administration — Unlocking the next generation of complex missions for autonomous spacecraft will require significant advances in robust motion planning. The aim of motion planning...
Kulkarni, Nilesh; Krishnakumar, Kalmaje
2005-01-01
The objective of this research is to design an intelligent plug-n-play avionics system that provides a reconfigurable platform for supporting the guidance, navigation and control (GN&C) requirements for different elements of the space exploration mission. The focus of this study is to look at the specific requirements for a spacecraft that needs to go from earth to moon and back. In this regard we will identify the different GN&C problems in various phases of flight that need to be addressed for designing such a plug-n-play avionics system. The Apollo and the Space Shuttle programs provide rich literature in terms of understanding some of the general GN&C requirements for a space vehicle. The relevant literature is reviewed which helps in narrowing down the different GN&C algorithms that need to be supported along with their individual requirements.
Automatic control algorithm effects on energy production
Mcnerney, G. M.
1981-01-01
A computer model was developed using actual wind time series and turbine performance data to simulate the power produced by the Sandia 17-m VAWT operating in automatic control. The model was used to investigate the influence of starting algorithms on annual energy production. The results indicate that, depending on turbine and local wind characteristics, a bad choice of a control algorithm can significantly reduce overall energy production. The model can be used to select control algorithms and threshold parameters that maximize long term energy production. The results from local site and turbine characteristics were generalized to obtain general guidelines for control algorithm design.
Spacecraft Hybrid (Mixed-Actuator) Attitude Control Experiences on NASA Science Missions
Dennehy, Cornelius J.
2014-01-01
There is a heightened interest within NASA for the design, development, and flight implementation of mixed-actuator hybrid attitude control systems for science spacecraft that have less than three functional reaction wheel actuators. This interest is driven by a number of recent reaction wheel failures on aging, but what could be still scientifically productive, NASA spacecraft if a successful hybrid attitude control mode can be implemented. Over the years, hybrid (mixed-actuator) control has been employed for contingency attitude control purposes on several NASA science mission spacecraft. This paper provides a historical perspective of NASA's previous engineering work on spacecraft mixed-actuator hybrid control approaches. An update of the current situation will also be provided emphasizing why NASA is now so interested in hybrid control. The results of the NASA Spacecraft Hybrid Attitude Control Workshop, held in April of 2013, will be highlighted. In particular, the lessons learned captured from that workshop will be shared in this paper. An update on the most recent experiences with hybrid control on the Kepler spacecraft will also be provided. This paper will close with some future considerations for hybrid spacecraft control.
Nakamura, Rumi; Jeszenszky, Harald; Torkar, Klaus; Andriopoulou, Maria; Fremuth, Gerhard; Taijmar, Martin; Scharlemann, Carsten; Svenes, Knut; Escoubet, Philippe; Prattes, Gustav; Laky, Gunter; Giner, Franz; Hoelzl, Bernhard
2015-04-01
The NASA's Magnetospheric Multiscale (MMS) Mission is planned to be launched on March 12, 2015. The scientific objectives of the MMS mission are to explore and understand the fundamental plasma physics processes of magnetic reconnection, particle acceleration and turbulence in the Earth's magnetosphere. The region of scientific interest of MMS is in a tenuous plasma environment where the positive spacecraft potential reaches an equilibrium at several tens of Volts. An Active Spacecraft Potential Control (ASPOC) instrument neutralizes the spacecraft potential by releasing positive charge produced by indium ion emitters. ASPOC thereby reduces the potential in order to improve the electric field and low-energy particle measurement. The method has been successfully applied on other spacecraft such as Cluster and Double Star. Two ASPOC units are present on each of the MMS spacecraft. Each unit contains four ion emitters, whereby one emitter per instrument is operated at a time. ASPOC for MMS includes new developments in the design of the emitters and the electronics enabling lower spacecraft potentials, higher reliability, and a more uniform potential structure in the spacecraft's sheath compared to previous missions. Model calculations confirm the findings from previous applications that the plasma measurements will not be affected by the beam's space charge. A perfectly stable spacecraft potential precludes the utilization of the spacecraft as a plasma probe, which is a conventional technique used to estimate ambient plasma density from the spacecraft potential. The small residual variations of the potential controlled by ASPOC, however, still allow to determine ambient plasma density by comparing two closely separated spacecraft and thereby reconstructing the uncontrolled potential variation from the controlled potential. Regular intercalibration of controlled and uncontrolled potentials is expected to increase the reliability of this new method.
Adaptive relative pose control of spacecraft with model couplings and uncertainties
Sun, Liang; Zheng, Zewei
2018-02-01
The spacecraft pose tracking control problem for an uncertain pursuer approaching to a space target is researched in this paper. After modeling the nonlinearly coupled dynamics for relative translational and rotational motions between two spacecraft, position tracking and attitude synchronization controllers are developed independently by using a robust adaptive control approach. The unknown kinematic couplings, parametric uncertainties, and bounded external disturbances are handled with adaptive updating laws. It is proved via Lyapunov method that the pose tracking errors converge to zero asymptotically. Spacecraft close-range rendezvous and proximity operations are introduced as an example to validate the effectiveness of the proposed control approach.
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.
El-Gohary, Awad
2005-01-01
This paper considers the problem of optimal controlling of a programmed motion of a rigid spacecraft. Given a cost of the spacecraft as a quadratic function of state and control variables we seek for optimal control laws as functions of the state variables and the angle of programmed rotation that minimize this cost and asymptotically stabilize the required programmed motion. The stabilizing properties of the proposed controllers are proved using the optimal Liapunov techniques. Numerical simulation study is presented
Thrusting maneuver control of a small spacecraft via only gimbaled-thruster scheme
Kabganian, Mansour; Kouhi, Hamed; Shahravi, Morteza; Fani Saberi, Farhad
2018-05-01
The thrust vector control (TVC) scheme is a powerful method in spacecraft attitude control. Since the control of a small spacecraft is being studied here, a solid rocket motor (SRM) should be used instead of a liquid propellant motor. Among the TVC methods, gimbaled-TVC as an efficient method is employed in this paper. The spacecraft structure is composed of a body and a gimbaled-SRM where common attitude control systems such as reaction control system (RCS) and spin-stabilization are not presented. A nonlinear two-body model is considered for the characterization of the gimbaled-thruster spacecraft where, the only control input is provided by a gimbal actuator. The attitude of the spacecraft is affected by a large exogenous disturbance torque which is generated by a thrust vector misalignment from the center of mass (C.M). A linear control law is designed to stabilize the spacecraft attitude while rejecting the mentioned disturbance torque. A semi-analytical formulation of the region of attraction (RoA) is developed to ensure the local stability and fast convergence of the nonlinear closed-loop system. Simulation results of the 3D maneuvers are included to show the applicability of this method for use in a small spacecraft.
Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang
2010-09-01
This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.
Passive radiative cooling of a HTS coil for attitude orbit control in micro-spacecraft
Inamori, Takaya; Ozaki, Naoya; Saisutjarit, Phongsatorn; Ohsaki, Hiroyuki
2015-02-01
This paper proposes a novel radiative cooling system for a high temperature superconducting (HTS) coil for an attitude orbit control system in nano- and micro-spacecraft missions. These days, nano-spacecraft (1-10 kg) and micro-spacecraft (10-100 kg) provide space access to a broader range of spacecraft developers and attract interest as space development applications. In planetary and high earth orbits, most previous standard-size spacecraft used thrusters for their attitude and orbit control, which are not available for nano- and micro-spacecraft missions because of the strict power consumption, space, and weight constraints. This paper considers orbit and attitude control methods that use a superconducting coil, which interacts with on-orbit space plasmas and creates a propulsion force. Because these spacecraft cannot use an active cooling system for the superconducting coil because of their mass and power consumption constraints, this paper proposes the utilization of a passive radiative cooling system, in which the superconducting coil is thermally connected to the 3 K cosmic background radiation of deep space, insulated from the heat generation using magnetic holders, and shielded from the sun. With this proposed cooling system, the HTS coil is cooled to 60 K in interplanetary orbits. Because the system does not use refrigerators for its cooling system, the spacecraft can achieve an HTS coil with low power consumption, small mass, and low cost.
Xuxi Zhang
2014-01-01
Full Text Available The attitude tracking problem of spacecraft in the presence of unknown disturbance is investigated. By using the adaptive control technique and the Lyapunov stability theory, a chattering-free adaptive sliding mode control law is proposed for the attitude tracking problem of spacecraft with unknown disturbance. Simulation results are employed to demonstrate the effectiveness of the proposed control design technique in this paper.
Guidance, navigation, and control subsystem for the EOS-AM spacecraft
Linder, David M.; Tolek, Joseph T.; Lombardo, John
1992-01-01
This paper presents the preliminary design of the Guidance, Navigation, and Control (GN&C) subsystem for the EOS-AM spacecraft and specifically focuses on the GN&C Normal Mode design. First, a brief description of the EOS-AM science mission, instruments, and system-level spacecraft design is provided. Next, an overview of the GN&C subsystem functional and performance requirements, hardware, and operating modes is presented. Then, the GN&C Normal Mode attitude determination, attitude control, and navigation systems are detailed. Finally, descriptions of the spacecraft's overall jitter performance and Safe Mode are provided.
Joint control algorithm in access network
2008-01-01
To deal with long probing delay and inaccurate probing results in the endpoint admission control method,a joint local and end-to-end admission control algorithm is proposed,which introduces local probing of access network besides end-to-end probing.Through local probing,the algorithm accurately estimated the resource status of the access network.Simulation shows that this algorithm can improve admission control performance and reduce users' average waiting time when the access network is heavily loaded.
Singular formalism and admissible control of spacecraft with rotating flexible solar array
Lu Dongning
2014-02-01
Full Text Available This paper is concerned with the attitude control of a three-axis-stabilized spacecraft which consists of a central rigid body and a flexible sun-tracking solar array driven by a solar array drive assembly. Based on the linearization of the dynamics of the spacecraft and the modal identities about the flexible and rigid coupling matrices, the spacecraft attitude dynamics is reduced to a formally singular system with periodically varying parameters, which is quite different from a spacecraft with fixed appendages. In the framework of the singular control theory, the regularity and impulse-freeness of the singular system is analyzed and then admissible attitude controllers are designed by Lyapunov’s method. To improve the robustness against system uncertainties, an H∞ optimal control is designed by optimizing the H∞ norm of the system transfer function matrix. Comparative numerical experiments are performed to verify the theoretical results.
Kulkov, V. M.; Medvedskii, A. L.; Terentyev, V. V.; Firsyuk, S. O.; Shemyakov, A. O.
2017-12-01
The problem of spacecraft attitude control using electromagnetic systems interacting with the Earth's magnetic field is considered. A set of dimensionless parameters has been formed to investigate the spacecraft orientation regimes based on dynamically similar models. The results of experimental studies of small spacecraft with a magnetic attitude control system can be extrapolated to the in-orbit spacecraft motion control regimes by using the methods of the dimensional and similarity theory.
Spacecraft attitude control using neuro-fuzzy approximation of the optimal controllers
Kim, Sung-Woo; Park, Sang-Young; Park, Chandeok
2016-01-01
In this study, a neuro-fuzzy controller (NFC) was developed for spacecraft attitude control to mitigate large computational load of the state-dependent Riccati equation (SDRE) controller. The NFC was developed by training a neuro-fuzzy network to approximate the SDRE controller. The stability of the NFC was numerically verified using a Lyapunov-based method, and the performance of the controller was analyzed in terms of approximation ability, steady-state error, cost, and execution time. The simulations and test results indicate that the developed NFC efficiently approximates the SDRE controller, with asymptotic stability in a bounded region of angular velocity encompassing the operational range of rapid-attitude maneuvers. In addition, it was shown that an approximated optimal feedback controller can be designed successfully through neuro-fuzzy approximation of the optimal open-loop controller.
Algorithms for orbit control on SPEAR
Corbett, J.; Keeley, D.; Hettel, R.; Linscott, I.; Sebek, J.
1994-06-01
A global orbit feedback system has been installed on SPEAR to help stabilize the position of the photon beams. The orbit control algorithms depend on either harmonic reconstruction of the orbit or eigenvector decomposition. The orbit motion is corrected by dipole corrector kicks determined from the inverse corrector-to-bpm response matrix. This paper outlines features of these control algorithms as applied to SPEAR
Temperature control of the Mariner class spacecraft - A seven mission summary.
Dumas, L. N.
1973-01-01
Mariner spacecraft have completed five missions of scientific investigation of the planets. Two additional missions are planned. A description of the thermal design of these seven spacecraft is given herein. The factors which have influenced the thermal design include the mission requirements and constraints, the flight environment, certain programmatic considerations and the experience gained as each mission is completed. These factors are reviewed and the impact of each on thermal design and developmental techniques is assessed. It is concluded that the flight success of these spacecraft indicates that adequate temperature control has been obtained, but that improvements in design data, hardware performance and analytical techniques are needed.
Pinning impulsive control algorithms for complex network
Sun, Wen; Lü, Jinhu; Chen, Shihua; Yu, Xinghuo
2014-01-01
In this paper, we further investigate the synchronization of complex dynamical network via pinning control in which a selection of nodes are controlled at discrete times. Different from most existing work, the pinning control algorithms utilize only the impulsive signals at discrete time instants, which may greatly improve the communication channel efficiency and reduce control cost. Two classes of algorithms are designed, one for strongly connected complex network and another for non-strongly connected complex network. It is suggested that in the strongly connected network with suitable coupling strength, a single controller at any one of the network's nodes can always pin the network to its homogeneous solution. In the non-strongly connected case, the location and minimum number of nodes needed to pin the network are determined by the Frobenius normal form of the coupling matrix. In addition, the coupling matrix is not necessarily symmetric or irreducible. Illustrative examples are then given to validate the proposed pinning impulsive control algorithms
Model based development of engine control algorithms
Dekker, H.J.; Sturm, W.L.
1996-01-01
Model based development of engine control systems has several advantages. The development time and costs are strongly reduced because much of the development and optimization work is carried out by simulating both engine and control system. After optimizing the control algorithm it can be executed
Control algorithms for autonomous robot navigation
Jorgensen, C.C.
1985-01-01
This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced
Thermal elastic shock and its effect on TOPEX spacecraft attitude control
Zimbelman, Darrell F.
1991-01-01
Thermal elastic shock (TES) is a twice per orbit impulsive disturbance torque experienced by low-Earth orbiting spacecraft. The fundamental equations used to model the TES disturbance torque for typical spacecraft appendages (e.g., solar arrays and antenna booms) are derived in detail. In particular, the attitude-pointing performance of the TOPEX spacecraft, when subjected to the TES disturbance, is analyzed using a three-axis nonlinear time-domain simulation. Results indicate that the TOPEX spacecraft could exceed its roll-axis attitude-control requirement during penumbral transitions, and remain in violation for approximately 150 sec each orbit until the umbra collapses. A localized active-control system is proposed as a solution to minimize and/or eliminate the degrading effects of the TES disturbance.
A Memory/Immunology-Based Control Approach with Applications to Multiple Spacecraft Formation Flying
Liguo Weng
2013-01-01
Full Text Available This paper addresses the problem of formation control for multiple spacecrafts in Planetary Orbital Environment (POE. Due to the presence of diverse interferences and uncertainties in the outer space, such as the changing spacecraft mass, unavailable space parameters, and varying gravity forces, traditional control methods encounter great difficulties in this area. A new control approach inspired by human memory and immune system is proposed, and this approach is shown to be capable of learning from past control experience and current behavior to improve its performance. It demands much less system dynamic information as compared with traditional controls. Both theoretic analysis and computer simulation verify its effectiveness.
Attitude dynamics and control of spacecraft with a partially filled liquid tank and flexible panels
Liu, Feng; Yue, Baozeng; Zhao, Liangyu
2018-02-01
A liquid-filled flexible spacecraft is essentially a time-variant fully-coupled system, whose dynamics characteristics are closely associated with its motion features. This paper focuses on the mathematical modelling and attitude control of the spacecraft coupled with fuel sloshing dynamics and flexible solar panels vibration. The slosh motion is represented by a spherical pendulum, whose motion description method is improved by using split variable operation. Benefiting from this improvement, the nonlinear lateral sloshing and the rotary sloshing as well as the rigid motion of a liquid respect to the spacecraft can be approximately described. The assumed modes discretization method has been adopted to approximate the elastic displacements of the attached panels, and the coupled dynamics is derived by using the Lagrangian formulation. A variable substitution method is proposed to obtain the apparently-uncoupled mathematical model of the rigid-flexible-liquid spacecraft. After linearization, this model can be directly used for designing Lyapunov output-feedback attitude controller (OFAC). With only torque actuators, and attitude and rate sensors installed, this kind of attitude controller, as simulation results show, is capable of not only bringing the spacecraft to the desired orientation, but also suppressing the effect of flex and slosh on the attitude motion of the spacecraft.
The use of twin-screen-based WIMPS in spacecraft control
Klim, R. D.
1990-10-01
The ergonomic problems of designing a sophisticated Windows Icons Mouse Pop-up (WIMP) based twin screen workstation are outlined. These same problems will be encountered by future spacecraft controllers. The design of a modern, advanced workstation for use on a distributed multicontrol center in a multisatellite control system is outlined. The system uses access control mechanisms to ensure that only authorized personnel can undertake certain operations on the workstation. Rules governing the use of windowing features, screen attributes, icons, keyboard and mouse in spacecraft control are discussed.
Study on the Attitude Control of Spacecraft Using Reaction Wheels
Ju-Young Du
1998-06-01
Full Text Available Attitude determination and control of satellite is important component which determines the accomplish satellite missions. In this study, attitude control using reaction wheels and momentum dumping of wheels are considered. Attitude control law is designed by Sliding control and LQR. Attitude maneuver control law is obtained by Shooting method. Wheels momentum dumping control law is designed by Bang-Bang control. Four reaction wheels are configurated for minimized the electric power consumption. Wheels control torque and magnetic moment of magnetic torquer are limited.
Controller Design for Accurate Antenna Pointing Onboard a Spacecraft
Barba, Victor M
2007-01-01
.... Simulations are conducted to show that the integration of feedforward control action and feedback compensation produces better responses than the implementation of either individual control system...
Assessment of the Use of Nanofluids in Spacecraft Active Thermal Control Systems
Ungar, Eugene K.; Erickson, Lisa R.
2011-01-01
The addition of metallic nanoparticles to a base heat transfer fluid can dramatically increase its thermal conductivity. These nanofluids have been shown to have advantages in some heat transport systems. Their enhanced properties can allow lower system volumetric flow rates and can reduce the required pumping power. Nanofluids have been suggested for use as working fluids for spacecraft Active Thermal Control Systems (ATCSs). However, there are no studies showing the end-to-end effect of nanofluids on the design and performance of spacecraft ATCSs. In the present work, a parametric study is performed to assess the use of nanofluids in a spacecraft ATCSs. The design parameters of the current Orion capsule and the tabulated thermophysical properties of nanofluids are used to assess the possible benefits of nanofluids and how their incorporation affects the overall design of a spacecraft ATCS. The study shows that the unique system and component-level design parameters of spacecraft ATCSs render them best suited for pure working fluids. The addition of nanoparticles to typical spacecraft thermal control working fluids actually results in an increase in the system mass and required pumping power.
Evaluation of train-speed control algorithms
Slavik, M.M. [BKS Advantech (Pty.) Ltd., Pretoria (South Africa)
2000-07-01
A relatively simple and fast simulator has been developed and used for the preliminary testing of train cruise-control algorithms. The simulation is done in software on a PC. The simulator is used to gauge the consequences and feasibility of a cruise-control strategy prior to more elaborate testing and evaluation. The tool was used to design and pre-test a train-cruise control algorithm called NSS, which does not require knowledge of exact train mass, vertical alignment, or actual braking force. Only continuous measurements on the speed of the train and electrical current are required. With this modest input, the NSS algorithm effected speed changes smoothly and efficiently for a wide range of operating conditions. (orig.)
On the spacecraft attitude stabilization in the orbital frame
Antipov Kirill A.
2012-01-01
Full Text Available The paper deals with spacecraft in the circular near-Earth orbit. The spacecraft interacts with geomagnetic field by the moments of Lorentz and magnetic forces. The octupole approximation of the Earth’s magnetic field is accepted. The spacecraft electromagnetic parameters, namely the electrostatic charge moment of the first order and the eigen magnetic moment are the controlled quasiperiodic functions. The control algorithms for the spacecraft electromagnetic parameters, which allows to stabilize the spacecraft attitude position in the orbital frame are obtained. The stability of the spacecraft stabilized orientation is proved both analytically and by PC computations.
VLSI PARTITIONING ALGORITHM WITH ADAPTIVE CONTROL PARAMETER
P. N. Filippenko
2013-03-01
Full Text Available The article deals with the problem of very large-scale integration circuit partitioning. A graph is selected as a mathematical model describing integrated circuit. Modification of ant colony optimization algorithm is presented, which is used to solve graph partitioning problem. Ant colony optimization algorithm is an optimization method based on the principles of self-organization and other useful features of the ants’ behavior. The proposed search system is based on ant colony optimization algorithm with the improved method of the initial distribution and dynamic adjustment of the control search parameters. The experimental results and performance comparison show that the proposed method of very large-scale integration circuit partitioning provides the better search performance over other well known algorithms.
Cheng Sheng-Yi; Liu Wen-Jin; Chen Shan-Qiu; Dong Li-Zhi; Yang Ping; Xu Bing
2015-01-01
Among all kinds of wavefront control algorithms in adaptive optics systems, the direct gradient wavefront control algorithm is the most widespread and common method. This control algorithm obtains the actuator voltages directly from wavefront slopes through pre-measuring the relational matrix between deformable mirror actuators and Hartmann wavefront sensor with perfect real-time characteristic and stability. However, with increasing the number of sub-apertures in wavefront sensor and deformable mirror actuators of adaptive optics systems, the matrix operation in direct gradient algorithm takes too much time, which becomes a major factor influencing control effect of adaptive optics systems. In this paper we apply an iterative wavefront control algorithm to high-resolution adaptive optics systems, in which the voltages of each actuator are obtained through iteration arithmetic, which gains great advantage in calculation and storage. For AO system with thousands of actuators, the computational complexity estimate is about O(n 2 ) ∼ O(n 3 ) in direct gradient wavefront control algorithm, while the computational complexity estimate in iterative wavefront control algorithm is about O(n) ∼ (O(n) 3/2 ), in which n is the number of actuators of AO system. And the more the numbers of sub-apertures and deformable mirror actuators, the more significant advantage the iterative wavefront control algorithm exhibits. (paper)
Ultraviolet and visible BRDF data on spacecraft thermal control and optical baffle materials
Viehmann, W.; Predmore, R. E.
1987-01-01
Bidirectional scattering functions of numerous optical baffle materials and of spacecraft thermal control coatings and surfaces are presented. Measurements were made at 254 nm and at 633 nm. The coatings and surfaces include high-reflectance white paints, low-reflectance optical blacks, thermal control blankets, and various conversion coatings on aluminum.
Analysis of the Command and Control Segment (CCS) attitude estimation algorithm
Stockwell, Catherine
1993-01-01
This paper categorizes the qualitative behavior of the Command and Control Segment (CCS) differential correction algorithm as applied to attitude estimation using simultaneous spin axis sun angle and Earth cord length measurements. The categories of interest are the domains of convergence, divergence, and their boundaries. Three series of plots are discussed that show the dependence of the estimation algorithm on the vehicle radius, the sun/Earth angle, and the spacecraft attitude. Common qualitative dynamics to all three series are tabulated and discussed. Out-of-limits conditions for the estimation algorithm are identified and discussed.
Design of Attitude Control Actuators for a Simulated Spacecraft
2011-03-24
however, there are many dual-use applications, such as regenerative braking technology and flywheel energy storage. The reaction wheel system on Simsat...as the reaction wheels change angular velocity. 2.3.5 Control Moment Gyroscopes. The second category of momentum ex- change devices is the control
Figuring Control in the Algorithmic Era
Markham, Annette; Bossen, Claus
Drawing on actor network theory, we follow how algorithms, information, selfhood and identity-for-others tangle in interesting and unexpected ways. Starting with simple moments in everyday life that might be described as having implications for ‘control,’ we focus attention on the ways in which t...
Massioni, Paolo; Massari, Mauro
2018-05-01
This paper describes an interesting and powerful approach to the constrained fuel-optimal control of spacecraft in close relative motion. The proposed approach is well suited for problems under linear dynamic equations, therefore perfectly fitting to the case of spacecraft flying in close relative motion. If the solution of the optimisation is approximated as a polynomial with respect to the time variable, then the problem can be approached with a technique developed in the control engineering community, known as "Sum Of Squares" (SOS), and the constraints can be reduced to bounds on the polynomials. Such a technique allows rewriting polynomial bounding problems in the form of convex optimisation problems, at the cost of a certain amount of conservatism. The principles of the techniques are explained and some application related to spacecraft flying in close relative motion are shown.
Cassini Spacecraft In-Flight Swap to Backup Attitude Control Thrusters
Bates, David M.
2010-01-01
NASA's Cassini Spacecraft, launched on October 15th, 1997 and arrived at Saturn on June 30th, 2004, is the largest and most ambitious interplanetary spacecraft in history. In order to meet the challenging attitude control and navigation requirements of the orbit profile at Saturn, Cassini is equipped with a monopropellant thruster based Reaction Control System (RCS), a bipropellant Main Engine Assembly (MEA) and a Reaction Wheel Assembly (RWA). In 2008, after 11 years of reliable service, several RCS thrusters began to show signs of end of life degradation, which led the operations team to successfully perform the swap to the backup RCS system, the details and challenges of which are described in this paper. With some modifications, it is hoped that similar techniques and design strategies could be used to benefit other spacecraft.
Pinning impulsive control algorithms for complex network
Sun, Wen [School of Information and Mathematics, Yangtze University, Jingzhou 434023 (China); Lü, Jinhu [Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190 (China); Chen, Shihua [College of Mathematics and Statistics, Wuhan University, Wuhan 430072 (China); Yu, Xinghuo [School of Electrical and Computer Engineering, RMIT University, Melbourne VIC 3001 (Australia)
2014-03-15
In this paper, we further investigate the synchronization of complex dynamical network via pinning control in which a selection of nodes are controlled at discrete times. Different from most existing work, the pinning control algorithms utilize only the impulsive signals at discrete time instants, which may greatly improve the communication channel efficiency and reduce control cost. Two classes of algorithms are designed, one for strongly connected complex network and another for non-strongly connected complex network. It is suggested that in the strongly connected network with suitable coupling strength, a single controller at any one of the network's nodes can always pin the network to its homogeneous solution. In the non-strongly connected case, the location and minimum number of nodes needed to pin the network are determined by the Frobenius normal form of the coupling matrix. In addition, the coupling matrix is not necessarily symmetric or irreducible. Illustrative examples are then given to validate the proposed pinning impulsive control algorithms.
Chemical optimization algorithm for fuzzy controller design
Astudillo, Leslie; Castillo, Oscar
2014-01-01
In this book, a novel optimization method inspired by a paradigm from nature is introduced. The chemical reactions are used as a paradigm to propose an optimization method that simulates these natural processes. The proposed algorithm is described in detail and then a set of typical complex benchmark functions is used to evaluate the performance of the algorithm. Simulation results show that the proposed optimization algorithm can outperform other methods in a set of benchmark functions. This chemical reaction optimization paradigm is also applied to solve the tracking problem for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application
Algorithm for Controlling a Centrifugal Compressor
Benedict, Scott M.
2004-01-01
An algorithm has been developed for controlling a centrifugal compressor that serves as the prime mover in a heatpump system. Experimental studies have shown that the operating conditions for maximum compressor efficiency are close to the boundary beyond which surge occurs. Compressor surge is a destructive condition in which there are instantaneous reversals of flow associated with a high outlet-to-inlet pressure differential. For a given cooling load, the algorithm sets the compressor speed at the lowest possible value while adjusting the inlet guide vane angle and diffuser vane angle to maximize efficiency, subject to an overriding requirement to prevent surge. The onset of surge is detected via the onset of oscillations of the electric current supplied to the compressor motor, associated with surge-induced oscillations of the torque exerted by and on the compressor rotor. The algorithm can be implemented in any of several computer languages.
Search algorithms, hidden labour and information control
Paško Bilić
2016-06-01
Full Text Available The paper examines some of the processes of the closely knit relationship between Google’s ideologies of neutrality and objectivity and global market dominance. Neutrality construction comprises an important element sustaining the company’s economic position and is reflected in constant updates, estimates and changes to utility and relevance of search results. Providing a purely technical solution to these issues proves to be increasingly difficult without a human hand in steering algorithmic solutions. Search relevance fluctuates and shifts through continuous tinkering and tweaking of the search algorithm. The company also uses third parties to hire human raters for performing quality assessments of algorithmic updates and adaptations in linguistically and culturally diverse global markets. The adaptation process contradicts the technical foundations of the company and calculations based on the initial Page Rank algorithm. Annual market reports, Google’s Search Quality Rating Guidelines, and reports from media specialising in search engine optimisation business are analysed. The Search Quality Rating Guidelines document provides a rare glimpse into the internal architecture of search algorithms and the notions of utility and relevance which are presented and structured as neutral and objective. Intertwined layers of ideology, hidden labour of human raters, advertising revenues, market dominance and control are discussed throughout the paper.
Chak, Yew-Chung; Varatharajoo, Renuganth
2016-07-01
Many spacecraft attitude control systems today use reaction wheels to deliver precise torques to achieve three-axis attitude stabilization. However, irrecoverable mechanical failure of reaction wheels could potentially lead to mission interruption or total loss. The electrically-powered Solar Array Drive Assemblies (SADA) are usually installed in the pitch axis which rotate the solar arrays to track the Sun, can produce torques to compensate for the pitch-axis wheel failure. In addition, the attitude control of a flexible spacecraft poses a difficult problem. These difficulties include the strong nonlinear coupled dynamics between the rigid hub and flexible solar arrays, and the imprecisely known system parameters, such as inertia matrix, damping ratios, and flexible mode frequencies. In order to overcome these drawbacks, the adaptive Jacobian tracking fuzzy control is proposed for the combined attitude and sun-tracking control problem of a flexible spacecraft during attitude maneuvers in this work. For the adaptation of kinematic and dynamic uncertainties, the proposed scheme uses an adaptive sliding vector based on estimated attitude velocity via approximate Jacobian matrix. The unknown nonlinearities are approximated by deriving the fuzzy models with a set of linguistic If-Then rules using the idea of sector nonlinearity and local approximation in fuzzy partition spaces. The uncertain parameters of the estimated nonlinearities and the Jacobian matrix are being adjusted online by an adaptive law to realize feedback control. The attitude of the spacecraft can be directly controlled with the Jacobian feedback control when the attitude pointing trajectory is designed with respect to the spacecraft coordinate frame itself. A significant feature of this work is that the proposed adaptive Jacobian tracking scheme will result in not only the convergence of angular position and angular velocity tracking errors, but also the convergence of estimated angular velocity to
Application of Autonomous Spacecraft Power Control Technology to Terrestrial Microgrids
Dever, Timothy P.; Trase, Larry M.; Soeder, James F.
2014-01-01
This paper describes the potential of the power campus located at the NASA Glenn Research Center (GRC) in Cleveland, Ohio for microgrid development. First, the benefits provided by microgrids to the terrestrial power grid are described, and an overview of Technology Needs for microgrid development is presented. Next, GRC's work on development of autonomous control for manned deep space vehicles, which are essentially islanded microgrids, is covered, and contribution of each of these developments to the microgrid Technology Needs is detailed. Finally, a description is provided of GRC's existing physical assets which can be applied to microgrid technology development, and a phased plan for development of a microgrid test facility is presented.
Logistics and operations implications of manual control of spacecraft docking maneuvers
Brody, Adam R.; Ellis, Stephen R.
1991-01-01
The implications of logistics and operations on the manual control of spacecraft docking are discussed. The results of simulation studies to investigate fuel and time cost tradeoffs are reviewed and discussed. Comparisons of acceleration control and pulse control are presented to evaluate the effects of astronauts being instructed to use pulse mode for fuel conservation. The applications of the findings to moon and Mars missions are addressed.
Gradient algorithm applied to laboratory quantum control
Roslund, Jonathan; Rabitz, Herschel
2009-01-01
The exploration of a quantum control landscape, which is the physical observable as a function of the control variables, is fundamental for understanding the ability to perform observable optimization in the laboratory. For high control variable dimensions, trajectory-based methods provide a means for performing such systematic explorations by exploiting the measured gradient of the observable with respect to the control variables. This paper presents a practical, robust, easily implemented statistical method for obtaining the gradient on a general quantum control landscape in the presence of noise. In order to demonstrate the method's utility, the experimentally measured gradient is utilized as input in steepest-ascent trajectories on the landscapes of three model quantum control problems: spectrally filtered and integrated second harmonic generation as well as excitation of atomic rubidium. The gradient algorithm achieves efficiency gains of up to approximately three times that of the standard genetic algorithm and, as such, is a promising tool for meeting quantum control optimization goals as well as landscape analyses. The landscape trajectories directed by the gradient should aid in the continued investigation and understanding of controlled quantum phenomena.
An efficient control algorithm for nonlinear systems
Sinha, S.
1990-12-01
We suggest a scheme to step up the efficiency of a recently proposed adaptive control algorithm, which is remarkably effective for regulating nonlinear systems. The technique involves monitoring of the ''stiffness of control'' to get maximum gain while maintaining a predetermined accuracy. The success of the procedure is demonstrated for the case of the logistic map, where we show that the improvement in performance is often factors of tens, and for small control stiffness, even factors of hundreds. (author). 4 refs, 1 fig., 1 tab
Wave-Based Attitude Control of Spacecraft with Fuel Sloshing Dynamics
Thompson Joseph William
2016-06-01
Full Text Available Wave-Based Control has been previously applied successfully to simple under-actuated flexible mechanical systems. Spacecraft and rockets with structural flexibility and sloshing are examples of such systems but have added difficulties due to non-uniform structure, external disturbing forces and non-ideal actuators and sensors. The aim of this paper is to extend the application of WBC to spacecraft systems, to compare the performance of WBC to other popular controllers and to carry out experimental validation of the designed control laws. A mathematical model is developed for an upper stage accelerating rocket moving in a single plane. Fuel sloshing is represented by an equivalent mechanical pendulum model. A wave-based controller is designed for the upper stage AVUM of the European launcher Vega. In numerical simulations the controller successfully suppresses the sloshing motion. A major advantage of the strategy is that no measurement of the pendulum states (sloshing motion is required.
Fuzzy based attitude controller for flexible spacecraft with on/off thrusters
Knapp, Roger Glenn
1993-05-01
A fuzzy-based attitude controller is designed for attitude control of a generic spacecraft with on/off thrusters. The controller is comprised of packages of rules dedicated to addressing different objectives (e.g., disturbance rejection, low fuel consumption, avoiding the excitation of flexible appendages, etc.). These rule packages can be inserted or removed depending on the requirements of the particular spacecraft and are parameterized based on vehicle parameters such as inertia or operational parameters such as the maneuvering rate. Individual rule packages can be 'weighted' relative to each other to emphasize the importance of one objective relative to another. Finally, the fuzzy controller and rule packages are demonstrated using the high-fidelity Space Shuttle Interactive On-Orbit Simulator (IOS) while performing typical on-orbit operations and are subsequently compared with the existing shuttle flight control system performance.
Cheng, Sheng-Yi; Liu, Wen-Jin; Chen, Shan-Qiu; Dong, Li-Zhi; Yang, Ping; Xu, Bing
2015-08-01
Among all kinds of wavefront control algorithms in adaptive optics systems, the direct gradient wavefront control algorithm is the most widespread and common method. This control algorithm obtains the actuator voltages directly from wavefront slopes through pre-measuring the relational matrix between deformable mirror actuators and Hartmann wavefront sensor with perfect real-time characteristic and stability. However, with increasing the number of sub-apertures in wavefront sensor and deformable mirror actuators of adaptive optics systems, the matrix operation in direct gradient algorithm takes too much time, which becomes a major factor influencing control effect of adaptive optics systems. In this paper we apply an iterative wavefront control algorithm to high-resolution adaptive optics systems, in which the voltages of each actuator are obtained through iteration arithmetic, which gains great advantage in calculation and storage. For AO system with thousands of actuators, the computational complexity estimate is about O(n2) ˜ O(n3) in direct gradient wavefront control algorithm, while the computational complexity estimate in iterative wavefront control algorithm is about O(n) ˜ (O(n)3/2), in which n is the number of actuators of AO system. And the more the numbers of sub-apertures and deformable mirror actuators, the more significant advantage the iterative wavefront control algorithm exhibits. Project supported by the National Key Scientific and Research Equipment Development Project of China (Grant No. ZDYZ2013-2), the National Natural Science Foundation of China (Grant No. 11173008), and the Sichuan Provincial Outstanding Youth Academic Technology Leaders Program, China (Grant No. 2012JQ0012).
Adaptive Control Algorithm of the Synchronous Generator
Shevchenko Victor
2017-01-01
Full Text Available The article discusses the the problem of controlling a synchronous generator, namely, maintaining the stability of the control object in the conditions of occurrence of noise and disturbances in the regulatory process. The model of a synchronous generator is represented by a system of differential equations of Park-Gorev, where state variables are computed relative to synchronously rotating d, q-axis. Management of synchronous generator is proposed to organize on the basis of the position-path control using algorithms to adapt with the reference model. Basic control law directed on the stabilizing indicators the frequency generated by the current and the required power level, which is achieved by controlling the mechanical torque on the shaft of the turbine and the value of the excitation voltage of the synchronous generator. Modification of the classic adaptation algorithm using the reference model, allowing to minimize the error of the reference regulation and the model under investigation within the prescribed limits, produced by means of the introduction of additional variables controller adaptation in the model. Сarried out the mathematical modeling of control provided influence on the studied model of continuous nonlinear and unmeasured the disturbance. Simulation results confirm the high level accuracy of tracking and adaptation investigated model with respect to the reference, and the present value of the loop error depends on parameters performance of regulator.
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
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
Dynamics and control of robotic spacecrafts for the transportation of flexible elements
Wen, Hao; Chen, Ti; Yu, Bensong; Jin, Dongping
2016-01-01
The technology of robotic spacecrafts has been identified as one of the most appealing solutions to the on-orbit construction of large space structures in future space missions. As a prerequisite of a successful on-orbit construction, it is needed to use small autonomous spacecrafts for the transportation of flexible elements. To this end, the paper presents an energy-based scheme to control a couple of robotic spacecrafts carrying a flexible slender structure to its desired position. The flexible structure is modelled as a long beam based on the formulation of absolute nodal coordinates to account for the geometrical nonlinearity due to large displacement. Meanwhile, the robotic spacecrafts are actuated on their rigid-body degrees of freedom and modelled as two rigid bodies attached to the flexible beam. The energy-based controller is designed using the technique of energy shaping and damping injection such that translational and rotational maneuvers can be achieved with the suppression of the flexible vibrations of the beam. Finally, numerical case studies are performed to demonstrate the proposed schemes. (paper)
Robust H ∞ Control for Spacecraft Rendezvous with a Noncooperative Target
Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang
2013-01-01
The robust H ∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H ∞ performance and finite time performance are proposed, and a robust H ∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller. PMID:24027446
Attitude dynamics and control of a spacecraft using shifting mass distribution
Ahn, Young Tae
Spacecraft need specific attitude control methods that depend on the mission type or special tasks. The dynamics and the attitude control of a spacecraft with a shifting mass distribution within the system are examined. The behavior and use of conventional attitude control actuators are widely developed and performing at the present time. However, the advantage of a shifting mass distribution concept can complement spacecraft attitude control, save mass, and extend a satellite's life. This can be adopted in practice by moving mass from one tank to another, similar to what an airplane does to balance weight. Using this shifting mass distribution concept, in conjunction with other attitude control devices, can augment the three-axis attitude control process. Shifting mass involves changing the center-of-mass of the system, and/or changing the moments of inertia of the system, which then ultimately can change the attitude behavior of the system. This dissertation consists of two parts. First, the equations of motion for the shifting mass concept (also known as morphing) are developed. They are tested for their effects on attitude control by showing how shifting the mass changes the spacecraft's attitude behavior. Second, a method for optimal mass redistribution is shown using a combinatorial optimization theory under constraints. It closes with a simple example demonstrating an optimal reconfiguration. The procedure of optimal reconfiguration from one mass distribution to another to accomplish attitude control has been demonstrated for several simple examples. Mass shifting could work as an attitude controller for fine-tuning attitude behavior in small satellites. Various constraints can be applied for different situations, such as no mass shift between two tanks connected by a failed pipe or total amount of shifted mass per pipe being set for the time optimum solution. Euler angle changes influenced by the mass reconfiguration are accomplished while stability
Sun, Liang; Huo, Wei; Jiao, Zongxia
2017-03-01
This paper studies relative pose control for a rigid spacecraft with parametric uncertainties approaching to an unknown tumbling target in disturbed space environment. State feedback controllers for relative translation and relative rotation are designed in an adaptive nonlinear robust control framework. The element-wise and norm-wise adaptive laws are utilized to compensate the parametric uncertainties of chaser and target spacecraft, respectively. External disturbances acting on two spacecraft are treated as a lumped and bounded perturbation input for system. To achieve the prescribed disturbance attenuation performance index, feedback gains of controllers are designed by solving linear matrix inequality problems so that lumped disturbance attenuation with respect to the controlled output is ensured in the L 2 -gain sense. Moreover, in the absence of lumped disturbance input, asymptotical convergence of relative pose are proved by using the Lyapunov method. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of couplings and uncertainties. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Application of genetic algorithm to control design
Lee, Yoon Joon; Cho, Kyung Ho
1995-01-01
A classical PID controller is designed by applying the GA (Genetic Algorithm) which searches the optimal parameters through three major operators of reproduction, crossover and mutation under the given constraints. The GA could minimize the designer's interference and the whole design process could easily be automated. In contrast with other traditional PID design methods which allows for the system output responses only, the design with the GA can take account of the magnitude or the rate of change of control input together with the output responses, which reflects the more realistic situations. Compared with other PIDs designed by the traditional methods such as Ziegler and analytic, the PID by the GA shows the superior response characteristics to those of others with the least control input energy
Nonlinear model predictive control theory and algorithms
Grüne, Lars
2017-01-01
This book offers readers a thorough and rigorous introduction to nonlinear model predictive control (NMPC) for discrete-time and sampled-data systems. NMPC schemes with and without stabilizing terminal constraints are detailed, and intuitive examples illustrate the performance of different NMPC variants. NMPC is interpreted as an approximation of infinite-horizon optimal control so that important properties like closed-loop stability, inverse optimality and suboptimality can be derived in a uniform manner. These results are complemented by discussions of feasibility and robustness. An introduction to nonlinear optimal control algorithms yields essential insights into how the nonlinear optimization routine—the core of any nonlinear model predictive controller—works. Accompanying software in MATLAB® and C++ (downloadable from extras.springer.com/), together with an explanatory appendix in the book itself, enables readers to perform computer experiments exploring the possibilities and limitations of NMPC. T...
Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control
Oshman, Yaakov; Thienel, Julie; Idan, Moshe
2015-01-01
This book presents selected papers of the Itzhack Y. Bar-Itzhack Memorial Sympo- sium on Estimation, Navigation, and Spacecraft Control. Itzhack Y. Bar-Itzhack, professor Emeritus of Aerospace Engineering at the Technion – Israel Institute of Technology, was a prominent and world-renowned member of the applied estimation, navigation, and spacecraft attitude determination communities. He touched the lives of many. He had a love for life, an incredible sense of humor, and wisdom that he shared freely with everyone he met. To honor Professor Bar-Itzhack's memory, as well as his numerous seminal professional achievements, an international symposium was held in Haifa, Israel, on October 14–17, 2012, under the auspices of the Faculty of Aerospace Engineering at the Technion and the Israeli Association for Automatic Control. The book contains 27 selected, revised, and edited contributed chapters written by eminent international experts. The book is organized in three parts: (1) Estimation, (2) Navigation and (3)...
MPPT algorithm for voltage controlled PV inverters
Kerekes, Tamas; Teodorescu, Remus; Liserre, Marco
2008-01-01
This paper presents a novel concept for an MPPT that can be used in case of a voltage controlled grid connected PV inverters. In case of single-phase systems, the 100 Hz ripple in the AC power is also present on the DC side. Depending on the DC link capacitor, this power fluctuation can be used t...... to track the MPP of the PV array, using the information that at MPP the power oscillations are very small. In this way the algorithm can detect the fact that the current working point is at the MPP, for the current atmospheric conditions....
Tamer Mekky Ahmed Habib
2013-06-01
Full Text Available The primary aim of this work is to provide simultaneous spacecraft orbit estimation and control based on the global positioning system (GPS measurements suitable for application to the next coming Egyptian remote sensing satellites. Disturbance resulting from earth’s oblateness till the fourth order (i.e., J4 is considered. In addition, aerodynamic drag and random disturbance effects are taken into consideration.
Torkar, K.; Nakamura, R.; Andriopoulou, M.; Giles, B. L.; Jeszenszky, H.; Khotyaintsev, Y. V.; Lindqvist, P.-A.; Torbert, R. B.
2017-12-01
Space missions with sophisticated plasma instrumentation such as Magnetospheric Multiscale, which employs four satellites to explore near-Earth space benefit from a low electric potential of the spacecraft, to improve the plasma measurements and therefore carry instruments to actively control the potential by means of ion beams. Without control, the potential varies in anticorrelation with plasma density and temperature to maintain an equilibrium between the plasma current and the one of photoelectrons produced at the surface and overcoming the potential barrier. A drawback of the controlled, almost constant potential is the difficulty to use it as convenient estimator for plasma density. This paper identifies a correlation between the spacecraft potential and the ambient electric field, both measured by double probes mounted at the end of wire booms, as the main responsible for artifacts in the potential data besides the known effect of the variable photoelectron production due to changing illumination of the surface. It is shown that the effect of density variations is too weak to explain the observed correlation with the electric field and that a correction of the artifacts can be achieved to enable the reconstruction of the uncontrolled potential and plasma density in turn. Two possible mechanisms are discussed: the asymmetry of the current-voltage characteristic determining the probe to plasma potential and the fact that a large equipotential structure embedded in an electric field results in asymmetries of both the emission and spatial distribution of photoelectrons, which results in an increase of the spacecraft potential.
Spacecraft attitude maneuver control using two parallel mounted 3-DOF spherical actuators
Guidan Li
2017-02-01
Full Text Available A parallel configuration using two 3-degree-of-freedom (3-DOF spherical electromagnetic momentum exchange actuators is investigated for large angle spacecraft attitude maneuvers. First, the full dynamic equations of motion for the spacecraft system are derived by the Newton-Euler method. To facilitate computation, virtual gimbal coordinate frames are established. Second, a nonlinear control law in terms of quaternions is developed via backstepping method. The proposed control law compensates the coupling torques arising from the spacecraft rotation, and is robust against the external disturbances. Then, the singularity problem is analyzed. To avoid singularities, a modified weighed Moore-Pseudo inverse velocity steering law based on null motion is proposed. The weighted matrices are carefully designed to switch the actuators and redistribute the control torques. The null motion is used to reorient the rotor away from the tilt angle saturation state. Finally, numerical simulations of rest-to-rest maneuvers are performed to validate the effectiveness of the proposed method.
Li, Yuanyuan; Wang, Zilu; Wang, Cong; Huang, Wenhu
2018-01-01
Based on Nodal Coordinate Formulation (NCF) and Absolute Nodal Coordinate Formulation (ANCF), this paper establishes rigid-flexible coupling dynamic model of the spacecraft with large deployable solar arrays and multiple clearance joints to analyze and control the satellite attitude under deployment disturbance. Considering torque spring, close cable loop (CCL) configuration and latch mechanisms, a typical spacecraft composed of a rigid main-body described by NCF and two flexible panels described by ANCF is used as a demonstration case. Nonlinear contact force model and modified Coulomb friction model are selected to establish normal contact force and tangential friction model, respectively. Generalized elastic force are derived and all generalized forces are defined in the NCF-ANCF frame. The Newmark-β method is used to solve system equations of motion. The availability and superiority of the proposed model is verified through comparing with numerical co-simulations of Patran and ADAMS software. The numerical results reveal the effects of panel flexibility, joint clearance and their coupling on satellite attitude. The effects of clearance number, clearance size and clearance stiffness on satellite attitude are investigated. Furthermore, a proportional-differential (PD) attitude controller of spacecraft is designed to discuss the effect of attitude control on the dynamic responses of the whole system.
Wang, Qian; Xue, Anke
2018-06-01
This paper has proposed a robust control for the spacecraft rendezvous system by considering the parameter uncertainties and actuator unsymmetrical saturation based on the discrete gain scheduling approach. By changing of variables, we transform the actuator unsymmetrical saturation control problem into a symmetrical one. The main advantage of the proposed method is improving the dynamic performance of the closed-loop system with a region of attraction as large as possible. By the Lyapunov approach and the scheduling technology, the existence conditions for the admissible controller are formulated in the form of linear matrix inequalities. The numerical simulation illustrates the effectiveness of the proposed method.
Wu, Wan-fan; Liu, Na; Cheng, Wen-long; Liu, Yi
2013-01-01
Highlights: ► A shape-stabilized PCM is used to protect the spacecraft attacked by high energy. ► Taking a satellite as example, it proves the solution given in the work is feasible. ► Low thermal conductivity makes the material above its thermal stability limit. ► It provides guidance on how to choose the shape-stabilized PCM for similar problems. - Abstract: In space, the emergencies such as short-term high heat flux is prone to cause spacecraft thermal control system faults, resulting in temperature anomalies of electronic equipment of the spacecraft and even failures in them. In order to protect the spacecraft attacked by the high energy, a new guard method is proposed. A shape-stabilized phase change material (PCM), which has high thermal conductivity and does not require being tightly packaged, is proposed to be used on the spacecraft. To prove the feasibility of using the material on spacecraft attacked by high energy, the thermal responses for spacecraft with shape-stabilized PCM are investigated in situations of normal and short-term high heat flux, in contrast to that with conventional thermal control system. The results indicate that the shape-stabilized PCM can effectively absorb the heat to prevent the thermal control system faults when the spacecraft’s outer heat flux changes dramatically and has no negative effect on spacecraft in normal heat flux. Additionally the effect of thermal conductivity of PCM on its application effectiveness is discussed
Xia, Kewei; Huo, Wei
2016-05-01
This paper presents a robust adaptive neural networks control strategy for spacecraft rendezvous and docking with the coupled position and attitude dynamics under input saturation. Backstepping technique is applied to design a relative attitude controller and a relative position controller, respectively. The dynamics uncertainties are approximated by radial basis function neural networks (RBFNNs). A novel switching controller consists of an adaptive neural networks controller dominating in its active region combined with an extra robust controller to avoid invalidation of the RBFNNs destroying stability of the system outside the neural active region. An auxiliary signal is introduced to compensate the input saturation with anti-windup technique, and a command filter is employed to approximate derivative of the virtual control in the backstepping procedure. Globally uniformly ultimately bounded of the relative states is proved via Lyapunov theory. Simulation example demonstrates effectiveness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Designing a Robust Nonlinear Dynamic Inversion Controller for Spacecraft Formation Flying
Inseok Yang
2014-01-01
Full Text Available The robust nonlinear dynamic inversion (RNDI control technique is proposed to keep the relative position of spacecrafts while formation flying. The proposed RNDI control method is based on nonlinear dynamic inversion (NDI. NDI is nonlinear control method that replaces the original dynamics into the user-selected desired dynamics. Because NDI removes nonlinearities in the model by inverting the original dynamics directly, it also eliminates the need of designing suitable controllers for each equilibrium point; that is, NDI works as self-scheduled controller. Removing the original model also provides advantages of ease to satisfy the specific requirements by simply handling desired dynamics. Therefore, NDI is simple and has many similarities to classical control. In real applications, however, it is difficult to achieve perfect cancellation of the original dynamics due to uncertainties that lead to performance degradation and even make the system unstable. This paper proposes robustness assurance method for NDI. The proposed RNDI is designed by combining NDI and sliding mode control (SMC. SMC is inherently robust using high-speed switching inputs. This paper verifies similarities of NDI and SMC, firstly. And then RNDI control method is proposed. The performance of the proposed method is evaluated by simulations applied to spacecraft formation flying problem.
Air dehumidification by membrane with cold water for manned spacecraft environmental control
Shang Yonghong
2017-01-01
Full Text Available The traditional condensation dehumidification method requires additional gas-liquid separation and water recovery process in the manned spacecraft humidity control system, which would increase weight and complexity of systems. A new membrane dehumidification with cold water is proposed, which uses water vapor partial pressure difference to promote water vapor transmembrane mass transfer for dehumidification. The permeability of the membrane was measured and the experimental results agree well with the theoretical calculations. Based on the simulation of dehumidification process of cold water-membrane, the influence of module structure and working condition on dehumidification performance was analyzed, which provided reference for the design of membrane module construct. It can be seen from the simulation and experiments that the cold water-membrane dehumidification can effectively reduce the thermal load of the manned spacecraft.
Seismic active control by a heuristic-based algorithm
Tang, Yu.
1996-01-01
A heuristic-based algorithm for seismic active control is generalized to permit consideration of the effects of control-structure interaction and actuator dynamics. Control force is computed at onetime step ahead before being applied to the structure. Therefore, the proposed control algorithm is free from the problem of time delay. A numerical example is presented to show the effectiveness of the proposed control algorithm. Also, two indices are introduced in the paper to assess the effectiveness and efficiency of control laws
LQG/LTR optimal attitude control of small flexible spacecraft using free-free boundary conditions
Fulton, Joseph M.
Due to the volume and power limitations of a small satellite, careful consideration must be taken while designing an attitude control system for 3-axis stabilization. Placing redundancy in the system proves difficult and utilizing power hungry, high accuracy, active actuators is not a viable option. Thus, it is customary to find dependable, passive actuators used in conjunction with small scale active control components. This document describes the application of Elastic Memory Composite materials in the construction of a flexible spacecraft appendage, such as a gravity gradient boom. Assumed modes methods are used with Finite Element Modeling information to obtain the equations of motion for the system while assuming free-free boundary conditions. A discussion is provided to illustrate how cantilever mode shapes are not always the best assumption when modeling small flexible spacecraft. A key point of interest is first resonant modes may be needed in the system design plant in spite of these modes being greater than one order of magnitude in frequency when compared to the crossover frequency of the controller. LQG/LTR optimal control techniques are implemented to compute attitude control gains while controller robustness considerations determine appropriate reduced order controllers and which flexible modes to include in the design model. Key satellite designer concerns in the areas of computer processor sizing, material uncertainty impacts on the system model, and system performance variations resulting from appendage length modifications are addressed.
Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay
Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu
2017-08-01
Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.
Control algorithms and applications of the wavefront sensorless adaptive optics
Ma, Liang; Wang, Bin; Zhou, Yuanshen; Yang, Huizhen
2017-10-01
Compared with the conventional adaptive optics (AO) system, the wavefront sensorless (WFSless) AO system need not to measure the wavefront and reconstruct it. It is simpler than the conventional AO in system architecture and can be applied to the complex conditions. Based on the analysis of principle and system model of the WFSless AO system, wavefront correction methods of the WFSless AO system were divided into two categories: model-free-based and model-based control algorithms. The WFSless AO system based on model-free-based control algorithms commonly considers the performance metric as a function of the control parameters and then uses certain control algorithm to improve the performance metric. The model-based control algorithms include modal control algorithms, nonlinear control algorithms and control algorithms based on geometrical optics. Based on the brief description of above typical control algorithms, hybrid methods combining the model-free-based control algorithm with the model-based control algorithm were generalized. Additionally, characteristics of various control algorithms were compared and analyzed. We also discussed the extensive applications of WFSless AO system in free space optical communication (FSO), retinal imaging in the human eye, confocal microscope, coherent beam combination (CBC) techniques and extended objects.
Integrated analysis tools for trade studies of spacecraft controller and sensor locations
Rowell, L. F.
1986-01-01
The present investigation was conducted with the aim to evaluate the practicality and difficulties of modern control design methods for large space structure controls. The evaluation is used as a basis for the identification of useful computer-based analysis tools which would provide insight into control characteristics of a spacecraft concept. A description is presented of the wrap-rib antenna and its packaging concept. Attention is given to active control requirements, a mathematical model of structural dynamics, aspects of sensor and actuator location, the analysis approach, controllability, observability, the concept of balanced realization, transmission zeros, singular value plots, analysis results, model reduction, and an interactive computer program. It is pointed out that the application of selected control analysis tools to the wrap-rib antenna demonstrates several capabilities which can be useful during conceptual design.
Gilberto Arantes
2014-01-01
Full Text Available Noncooperative target spacecrafts are those assets in orbit that cannot convey any information about their states (position, attitude, and velocities or facilitate rendezvous and docking/berthing (RVD/B process. Designing a guidance, navigation, and control (GNC module for the chaser in a RVD/B mission with noncooperative target should be inevitably solved for on-orbit servicing technologies. The proximity operations and the guidance for achieving rendezvous problems are addressed in this paper. The out-of-plane maneuvers of proximity operations are explored with distinct subphases, including a chaser far approach in the target’s orbit to the first hold point and a closer approach to the final berthing location. Accordingly, guidance solutions are chosen for each subphase from the standard Hill based Closhessy-Willtshire (CW solution, elliptical fly-around, and Glideslope algorithms. The control is based on a linear quadratic regulator approach (LQR. At the final berthing location, attitude tracker based on a proportional derivative (PD form is tested to synchronize the chaser and target attitudes. The paper analyzes the performance of both controllers in terms of the tracking ability and the robustness. Finally, it prescribes any restrictions that may be imposed on the guidance during any subphase which can help to improve the controllers tracking ability.
Packet-Based Control Algorithms for Cooperative Surveillance and Reconnaissance
Murray, Richard M
2007-01-01
..., and repeated transmissions. Results include analysis and design of estimation and control algorithms in the presence of packet loss and across multi-hop data networks, distributed estimation and sensor fusion algorithms...
Inarrea, Manuel [Universidad de La Rioja, Area de Fisica Aplicada, 26006 Logrono (Spain)], E-mail: manuel.inarrea@unirioja.es
2009-05-30
We study the pitch attitude dynamics of an asymmetric magnetic spacecraft in a polar almost circular orbit under the influence of a gravity gradient torque. The spacecraft is perturbed by the small eccentricity of the elliptic orbit and by a small magnetic torque generated by the interaction between the Earth's magnetic field and the magnetic moment of the spacecraft. Under both perturbations, we show that the pitch motion exhibits heteroclinic chaotic behavior by means of the Melnikov method. Numerical methods applied to simulations of the pitch motion also confirm the chaotic character of the spacecraft attitude dynamics. Finally, a linear time-delay feedback method for controlling chaos is applied to the governing equations of the spacecraft pitch motion in order to remove the chaotic character of initially irregular attitude motions and transform them into periodic ones.
Inarrea, Manuel
2009-01-01
We study the pitch attitude dynamics of an asymmetric magnetic spacecraft in a polar almost circular orbit under the influence of a gravity gradient torque. The spacecraft is perturbed by the small eccentricity of the elliptic orbit and by a small magnetic torque generated by the interaction between the Earth's magnetic field and the magnetic moment of the spacecraft. Under both perturbations, we show that the pitch motion exhibits heteroclinic chaotic behavior by means of the Melnikov method. Numerical methods applied to simulations of the pitch motion also confirm the chaotic character of the spacecraft attitude dynamics. Finally, a linear time-delay feedback method for controlling chaos is applied to the governing equations of the spacecraft pitch motion in order to remove the chaotic character of initially irregular attitude motions and transform them into periodic ones.
Multiobjective Genetic Algorithm applied to dengue control.
Florentino, Helenice O; Cantane, Daniela R; Santos, Fernando L P; Bannwart, Bettina F
2014-12-01
Dengue fever is an infectious disease caused by a virus of the Flaviridae family and transmitted to the person by a mosquito of the genus Aedes aegypti. This disease has been a global public health problem because a single mosquito can infect up to 300 people and between 50 and 100 million people are infected annually on all continents. Thus, dengue fever is currently a subject of research, whether in the search for vaccines and treatments for the disease or efficient and economical forms of mosquito control. The current study aims to study techniques of multiobjective optimization to assist in solving problems involving the control of the mosquito that transmits dengue fever. The population dynamics of the mosquito is studied in order to understand the epidemic phenomenon and suggest strategies of multiobjective programming for mosquito control. A Multiobjective Genetic Algorithm (MGA_DENGUE) is proposed to solve the optimization model treated here and we discuss the computational results obtained from the application of this technique. Copyright © 2014 Elsevier Inc. All rights reserved.
Rate-control algorithms testing by using video source model
Belyaev, Evgeny; Turlikov, Andrey; Ukhanova, Anna
2008-01-01
In this paper the method of rate control algorithms testing by the use of video source model is suggested. The proposed method allows to significantly improve algorithms testing over the big test set.......In this paper the method of rate control algorithms testing by the use of video source model is suggested. The proposed method allows to significantly improve algorithms testing over the big test set....
Robust H(∞) control for spacecraft rendezvous with a noncooperative target.
Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang
2013-01-01
The robust H(∞) control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H(∞) performance and finite time performance are proposed, and a robust H(∞) controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller.
Implementation of fuzzy logic control algorithm in embedded ...
Fuzzy logic control algorithm solves problems that are difficult to address with traditional control techniques. This paper describes an implementation of fuzzy logic control algorithm using inexpensive hardware as well as how to use fuzzy logic to tackle a specific control problem without any special software tools. As a case ...
MicroASC instrument onboard Juno spacecraft utilizing inertially controlled imaging
Pedersen, David Arge Klevang; Jørgensen, Andreas Härstedt; Benn, Mathias
2016-01-01
This contribution describes the post-processing of the raw image data acquired by the microASC instrument during the Earth-fly-by of the Juno spacecraft. The images show a unique view of the Earth and Moon system as seen from afar. The procedure utilizes attitude measurements and inter......-calibration of the Camera Head Units of the microASC system to trigger the image capturing. The triggering is synchronized with the inertial attitude and rotational phase of the sensor acquiring the images. This is essentially works as inertially controlled imaging facilitating image acquisition from unexplored...
Hribar, V. F.; Bauer, J. L.; O'Donnell, T. P.
1987-01-01
Five black, electrically-conductive thermal control coatings have been formulated and tested for application on the Galileo spacecraft. The coatings consist of both organic and inorganic systems applied on titanium, aluminum, and glass/epoxy composite surfaces. The coatings were tested under simulated space environment conditions. Coated specimens were subjected to thermal radiation, convective and combustive heating, and cryogenic conditions over a temperature range between -196 C and 538 C. Mechanical, physical, thermal, electrical, and thermooptical properties are presented for one of these coatings. This paper describes the preparation, characteristics, and spraying of iron titanate on titanium and aluminum, and presents performance results.
Sampled-Data Control of Spacecraft Rendezvous with Discontinuous Lyapunov Approach
Zhuoshi Li
2013-01-01
Full Text Available This paper investigates the sampled-data stabilization problem of spacecraft relative positional holding with improved Lyapunov function approach. The classical Clohessy-Wiltshire equation is adopted to describe the relative dynamic model. The relative position holding problem is converted into an output tracking control problem using sampling signals. A time-dependent discontinuous Lyapunov functionals approach is developed, which will lead to essentially less conservative results for the stability analysis and controller design of the corresponding closed-loop system. Sufficient conditions for the exponential stability analysis and the existence of the proposed controller are provided, respectively. Finally, a simulation result is established to illustrate the effectiveness of the proposed control scheme.
Nonlinear Slewing Spacecraft Control Based on Exergy, Power Flow, and Static and Dynamic Stability
Robinett, Rush D.; Wilson, David G.
2009-10-01
This paper presents a new nonlinear control methodology for slewing spacecraft, which provides both necessary and sufficient conditions for stability by identifying the stability boundaries, rigid body modes, and limit cycles. Conservative Hamiltonian system concepts, which are equivalent to static stability of airplanes, are used to find and deal with the static stability boundaries: rigid body modes. The application of exergy and entropy thermodynamic concepts to the work-rate principle provides a natural partitioning through the second law of thermodynamics of power flows into exergy generator, dissipator, and storage for Hamiltonian systems that is employed to find the dynamic stability boundaries: limit cycles. This partitioning process enables the control system designer to directly evaluate and enhance the stability and performance of the system by balancing the power flowing into versus the power dissipated within the system subject to the Hamiltonian surface (power storage). Relationships are developed between exergy, power flow, static and dynamic stability, and Lyapunov analysis. The methodology is demonstrated with two illustrative examples: (1) a nonlinear oscillator with sinusoidal damping and (2) a multi-input-multi-output three-axis slewing spacecraft that employs proportional-integral-derivative tracking control with numerical simulation results.
Jiang, Jian-ping; Li, Dong-xu
2010-01-01
The decentralized robust vibration control with collocated piezoelectric actuator and strain sensor pairs is considered in this paper for spacecraft solar panel structures. Each actuator is driven individually by the output of the corresponding sensor so that only local feedback control is implemented, with each actuator, sensor and controller operating independently. Firstly, an optimal placement method for the location of the collocated piezoelectric actuator and strain gauge sensor pairs is developed based on the degree of observability and controllability indices for solar panel structures. Secondly, a decentralized robust H ∞ controller is designed to suppress the vibration induced by external disturbance. Finally, a numerical comparison between centralized and decentralized control systems is performed in order to investigate their effectiveness to suppress vibration of the smart solar panel. The simulation results show that the vibration can be significantly suppressed with permitted actuator voltages by the controllers. The decentralized control system almost has the same disturbance attenuation level as the centralized control system with a bit higher control voltages. More importantly, the decentralized controller composed of four three-order systems is a better practical implementation than a high-order centralized controller is
Photovoltaic Cells Mppt Algorithm and Design of Controller Monitoring System
Meng, X. Z.; Feng, H. B.
2017-10-01
This paper combined the advantages of each maximum power point tracking (MPPT) algorithm, put forward a kind of algorithm with higher speed and higher precision, based on this algorithm designed a maximum power point tracking controller with ARM. The controller, communication technology and PC software formed a control system. Results of the simulation and experiment showed that the process of maximum power tracking was effective, and the system was stable.
Dohee Kim
2008-12-01
Full Text Available In this paper, a Hardware-In-the-Loop simulator to simulate attitude control of spacecraft using momentum wheels is developed. The simulator consists of a spherical air bearing system allowing rotation and tilt in all three axes, three momentum wheels for actuation, and an AHRS (Attitude Heading Reference System. The simulator processes various types of data in PC104 and wirelessly communicates with a host PC using TCP/IP protocol. A simple low-cost momentum wheel assembly set and its drive electronics are also developed. Several experiments are performed to test the performance of the momentum wheels. For the control performance test of the simulator, a PID controller is implemented. The results of experimental demonstrations confirm the feasibility and validity of the Hardware-In-the-Loop simulator developed in the current study.
Maintenance of Process Control Algorithms based on Dynamic Program Slicing
Hansen, Ole Fink; Andersen, Nils Axel; Ravn, Ole
2010-01-01
Today’s industrial control systems gradually lose performance after installation and must be regularly maintained by means of adjusting parameters and modifying the control algorithm, in order to regain high performance. Industrial control algorithms are complex software systems, and it is partic...
PSO Algorithm for an Optimal Power Controller in a Microgrid
Al-Saedi, W.; Lachowicz, S.; Habibi, D.; Bass, O.
2017-07-01
This paper presents the Particle Swarm Optimization (PSO) algorithm to improve the quality of the power supply in a microgrid. This algorithm is proposed for a real-time selftuning method that used in a power controller for an inverter based Distributed Generation (DG) unit. In such system, the voltage and frequency are the main control objectives, particularly when the microgrid is islanded or during load change. In this work, the PSO algorithm is implemented to find the optimal controller parameters to satisfy the control objectives. The results show high performance of the applied PSO algorithm of regulating the microgrid voltage and frequency.
42: An Open-Source Simulation Tool for Study and Design of Spacecraft Attitude Control Systems
Stoneking, Eric
2018-01-01
Simulation is an important tool in the analysis and design of spacecraft attitude control systems. The speaker will discuss the simulation tool, called simply 42, that he has developed over the years to support his own work as an engineer in the Attitude Control Systems Engineering Branch at NASA Goddard Space Flight Center. 42 was intended from the outset to be high-fidelity and powerful, but also fast and easy to use. 42 is publicly available as open source since 2014. The speaker will describe some of 42's models and features, and discuss its applicability to studies ranging from early concept studies through the design cycle, integration, and operations. He will outline 42's architecture and share some thoughts on simulation development as a long-term project.
Luo, Tong; Xu, Ming; Colombo, Camilla
2018-04-01
This paper studies the dynamics and control of a spacecraft, whose area-to-mass ratio is increased by deploying a reflective orientable surface such as a solar sail or a solar panel. The dynamical system describing the motion of a non-zero attitude angle high area-to-mass ratio spacecraft under the effects of the Earth's oblateness and solar radiation pressure admits the existence of equilibrium points, whose number and the eccentricity values depend on the semi-major axis, the area-to-mass ratio and the attitude angle of the spacecraft together. When two out of three parameters are fixed, five different dynamical topologies successively occur through varying the third parameter. Two of these five topologies are critical cases characterized by the appearance of the bifurcation phenomena. A conventional Hamiltonian structure-preserving (HSP) controller and an improved HSP controller are both constructed to stabilize the hyperbolic equilibrium point. Through the use of a conventional HSP controller, a bounded trajectory around the hyperbolic equilibrium point is obtained, while an improved HSP controller allows the spacecraft to easily transfer to the hyperbolic equilibrium point and to follow varying equilibrium points. A bifurcation control using topologies and changes of behavior areas can also stabilize a spacecraft near a hyperbolic equilibrium point. Natural trajectories around stable equilibrium point and these stabilized trajectories around hyperbolic equilibrium point can all be applied to geomagnetic exploration.
Investigation of phase-change coatings for variable thermal control of spacecraft
Kelliher, W. C.; Young, P. R.
1972-01-01
An investigation was conducted to determine the feasibility of producing a spacecraft coating system that could vary the ratio of its solar absorptance to thermal emittance to adjust automatically for changes in the thermal balance of a spacecraft. This study resulted in a new concept called the phase-change effect which uses the change that occurs in the optical properties of many materials during the phase transition from a crystalline solid to an amorphous material. A series of two-component model coatings was developed which, when placed on a highly reflecting substrate, exhibited a sharp decrease in solar absorptance within a narrow temperature range. A variable thermal control coating can have a significant amount of temperature regulation with the phase-change effect. Data are presented on several crystallite-polymer formulations, their physical and optical properties, and associated phase-change temperatures. Aspects pertaining to their use in a space environment and an example of the degree of thermal regulation attainable with these coatings is also given.
Optimal Pid Controller Design Using Adaptive Vurpso Algorithm
Zirkohi, Majid Moradi
2015-04-01
The purpose of this paper is to improve theVelocity Update Relaxation Particle Swarm Optimization algorithm (VURPSO). The improved algorithm is called Adaptive VURPSO (AVURPSO) algorithm. Then, an optimal design of a Proportional-Integral-Derivative (PID) controller is obtained using the AVURPSO algorithm. An adaptive momentum factor is used to regulate a trade-off between the global and the local exploration abilities in the proposed algorithm. This operation helps the system to reach the optimal solution quickly and saves the computation time. Comparisons on the optimal PID controller design confirm the superiority of AVURPSO algorithm to the optimization algorithms mentioned in this paper namely the VURPSO algorithm, the Ant Colony algorithm, and the conventional approach. Comparisons on the speed of convergence confirm that the proposed algorithm has a faster convergence in a less computation time to yield a global optimum value. The proposed AVURPSO can be used in the diverse areas of optimization problems such as industrial planning, resource allocation, scheduling, decision making, pattern recognition and machine learning. The proposed AVURPSO algorithm is efficiently used to design an optimal PID controller.
Research on intelligent algorithm of electro - hydraulic servo control system
Wang, Yannian; Zhao, Yuhui; Liu, Chengtao
2017-09-01
In order to adapt the nonlinear characteristics of the electro-hydraulic servo control system and the influence of complex interference in the industrial field, using a fuzzy PID switching learning algorithm is proposed and a fuzzy PID switching learning controller is designed and applied in the electro-hydraulic servo controller. The designed controller not only combines the advantages of the fuzzy control and PID control, but also introduces the learning algorithm into the switching function, which makes the learning of the three parameters in the switching function can avoid the instability of the system during the switching between the fuzzy control and PID control algorithms. It also makes the switch between these two control algorithm more smoother than that of the conventional fuzzy PID.
Wooldridge, Eve M.; Schweiss, Andrea; Henderson-Nelson, Kelly; Woronowicz, Michael; Patel, Jignasha; Macias, Matthew; McGregor, R. Daniel; Farmer, Greg; Schmeitzky, Olivier; Jensen, Peter; Rumler, Peter; Romero, Beatriz; Breton, Jacques
2014-09-01
This paper will continue from Part 1 of JWST contamination control implementation. In addition to optics, instruments, and thermal vacuum testing, JWST also requires contamination control for a spacecraft that must be vented carefully in order to maintain solar array and thermal radiator thermal properties; a tennis court-sized sunshield made with 1-2 mil Kapton™ layers that must be manufactured and maintained clean; an observatory that must be integrated, stowed and transported to South America; and a rocket that typically launches commercial payloads without contamination sensitivity. An overview of plans developed to implement contamination control for the JWST spacecraft, sunshield, observatory and launch vehicle will be presented.
The research on algorithms for optoelectronic tracking servo control systems
Zhu, Qi-Hai; Zhao, Chang-Ming; Zhu, Zheng; Li, Kun
2016-10-01
The photoelectric servo control system based on PC controllers is mainly used to control the speed and position of the load. This paper analyzed the mathematical modeling and the system identification of the servo system. In the aspect of the control algorithm, the IP regulator, the fuzzy PID, the Active Disturbance Rejection Control (ADRC) and the adaptive algorithms were compared and analyzed. The PI-P control algorithm was proposed in this paper, which not only has the advantages of the PI regulator that can be quickly saturated, but also overcomes the shortcomings of the IP regulator. The control system has a good starting performance and the anti-load ability in a wide range. Experimental results show that the system has good performance under the guarantee of the PI-P control algorithm.
Biofilm formation and control in a simulated spacecraft water system - Interim results
Schultz, John R.; Taylor, Robert D.; Flanagan, David T.; Gibbons, Randall E.; Brown, Harlan D.; Sauer, Richard L.
1989-01-01
The ability of iodine to control microbial contamination and biofilm formation in spacecraft water distribution systems is studied using two stainless steel water subsystems. One subsystem has an iodine level of 2.5 mg/L maintained by an iodinated ion-exchange resin. The other subsystem has no iodine added. Stainless steel coupons are removed from each system to monitor biofilm formation. Results from the first six months of operation indicate that 2.5 mg/L of iodine has limited the number of viable bacteria that can be recovered from the iodinated subsystem. Epifluorescence microscopy of the coupons taken from this subsystem, however, indicates some evidence of microbial colonization after 15 weeks of operation. Numerous bacteria have been continually removed from both the water samples and the coupons taken from the noniodinated subsystem after only 3 weeks of operation.
American Society for Testing and Materials. Philadelphia
2008-01-01
1.1 This test method covers the determination of nonvolatile residue (NVR) fallout in environmentally controlled areas used for the assembly, testing, and processing of spacecraft. 1.2 The NVR of interest is that which is deposited on sampling plate surfaces at room temperature: it is left to the user to infer the relationship between the NVR found on the sampling plate surface and that found on any other surfaces. 1.3 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety and health practices and determine the applicability of regulatory limitations prior to use. 1.4 The values stated in SI units are to be regarded as standard. No other units of measurement are included in this standard.
Model-Free Adaptive Control Algorithm with Data Dropout Compensation
Xuhui Bu
2012-01-01
Full Text Available The convergence of model-free adaptive control (MFAC algorithm can be guaranteed when the system is subject to measurement data dropout. The system output convergent speed gets slower as dropout rate increases. This paper proposes a MFAC algorithm with data compensation. The missing data is first estimated using the dynamical linearization method, and then the estimated value is introduced to update control input. The convergence analysis of the proposed MFAC algorithm is given, and the effectiveness is also validated by simulations. It is shown that the proposed algorithm can compensate the effect of the data dropout, and the better output performance can be obtained.
Ran, Dechao; Chen, Xiaoqian; de Ruiter, Anton; Xiao, Bing
2018-04-01
This study presents an adaptive second-order sliding control scheme to solve the attitude fault tolerant control problem of spacecraft subject to system uncertainties, external disturbances and reaction wheel faults. A novel fast terminal sliding mode is preliminarily designed to guarantee that finite-time convergence of the attitude errors can be achieved globally. Based on this novel sliding mode, an adaptive second-order observer is then designed to reconstruct the system uncertainties and the actuator faults. One feature of the proposed observer is that the design of the observer does not necessitate any priori information of the upper bounds of the system uncertainties and the actuator faults. In view of the reconstructed information supplied by the designed observer, a second-order sliding mode controller is developed to accomplish attitude maneuvers with great robustness and precise tracking accuracy. Theoretical stability analysis proves that the designed fault tolerant control scheme can achieve finite-time stability of the closed-loop system, even in the presence of reaction wheel faults and system uncertainties. Numerical simulations are also presented to demonstrate the effectiveness and superiority of the proposed control scheme over existing methodologies.
Software for Automated Generation of Reduced Thermal Models for Spacecraft Thermal Control, Phase I
National Aeronautics and Space Administration — Thermal analysis is increasingly used in thermal engineering of spacecrafts in every stage, including design, test, and ground-operation simulation. Current...
Attitude control for on-orbit servicing spacecraft using hybrid actuator
Wu, Yunhua; Han, Feng; Zheng, Mohong; He, Mengjie; Chen, Zhiming; Hua, Bing; Wang, Feng
2018-03-01
On-orbit servicing is one of the research hotspots of space missions. A small satellite equipped with multiple robotic manipulators is expected to carry out device replacement task for target large spacecraft. Attitude hyperstable control of a small satellite platform under rotations of the manipulators is a challenging problem. A hybrid momentum exchanging actuator consists of Control Moment Gyro (CMG) and Reaction Wheel (RW) is proposed to tackle the above issue, due to its huge amount of momentum storage capacity of the CMG and high control accuracy of the RW, in which the CMG produces large command torque while the RW offers additional control degrees. The constructed dynamic model of the servicing satellite advises that it's feasible for attitude hyperstable control of the platform with arbitrary manipulators through compensating the disturbance generated by rapid rotation of the manipulators. Then, null motion between the CMG and RW is exploited to drive the system to the expected target with favorable performance, and to overcome the CMG inherent geometric singularity and RW saturation. Simulations with different initial situations, including CMG hyperbolic and elliptic singularities and RW saturation, are executed. Compared to the scenarios where the CMG or RW fails stabilizing the platform, large control torque, precise control effect and escape of singularity are guaranteed by the introduced hybrid actuator, CMGRW (CMGRW refers to the hybrid momentum exchanging devices in this paper, consisting of 4 CMGs in classical pyramid cluster and 3 RWs in an orthogonal group (specific description can been found in Section 4)). The feasible performance of the satellite, CMG and RW under large disturbance demonstrates that the control architecture proposed is capable of attitude control for on-orbit servicing satellite with multiple robotic manipulators.
A controllable sensor management algorithm capable of learning
Osadciw, Lisa A.; Veeramacheneni, Kalyan K.
2005-03-01
Sensor management technology progress is challenged by the geographic space it spans, the heterogeneity of the sensors, and the real-time timeframes within which plans controlling the assets are executed. This paper presents a new sensor management paradigm and demonstrates its application in a sensor management algorithm designed for a biometric access control system. This approach consists of an artificial intelligence (AI) algorithm focused on uncertainty measures, which makes the high level decisions to reduce uncertainties and interfaces with the user, integrated cohesively with a bottom up evolutionary algorithm, which optimizes the sensor network"s operation as determined by the AI algorithm. The sensor management algorithm presented is composed of a Bayesian network, the AI algorithm component, and a swarm optimization algorithm, the evolutionary algorithm. Thus, the algorithm can change its own performance goals in real-time and will modify its own decisions based on observed measures within the sensor network. The definition of the measures as well as the Bayesian network determine the robustness of the algorithm and its utility in reacting dynamically to changes in the global system.
Rendezvous maneuvers using Genetic Algorithm
Dos Santos, Denílson Paulo Souza; De Almeida Prado, Antônio F Bertachini; Teodoro, Anderson Rodrigo Barretto
2013-01-01
The present paper has the goal of studying orbital maneuvers of Rendezvous, that is an orbital transfer where a spacecraft has to change its orbit to meet with another spacecraft that is travelling in another orbit. This transfer will be accomplished by using a multi-impulsive control. A genetic algorithm is used to find the transfers that have minimum fuel consumption
PID controller tuning using metaheuristic optimization algorithms for benchmark problems
Gholap, Vishal; Naik Dessai, Chaitali; Bagyaveereswaran, V.
2017-11-01
This paper contributes to find the optimal PID controller parameters using particle swarm optimization (PSO), Genetic Algorithm (GA) and Simulated Annealing (SA) algorithm. The algorithms were developed through simulation of chemical process and electrical system and the PID controller is tuned. Here, two different fitness functions such as Integral Time Absolute Error and Time domain Specifications were chosen and applied on PSO, GA and SA while tuning the controller. The proposed Algorithms are implemented on two benchmark problems of coupled tank system and DC motor. Finally, comparative study has been done with different algorithms based on best cost, number of iterations and different objective functions. The closed loop process response for each set of tuned parameters is plotted for each system with each fitness function.
Hasan, Mohammed Adnan; Rashmi, S.; Esther, A. Carmel Mary; Bhavanisankar, Prudhivi Yashwantkumar; Sherikar, Baburao N.; Sridhara, N.; Dey, Arjun
2018-03-01
The feasibility of utilizing commercially available silica aerogel-based flexible composite blankets as passive thermal control element in applications such as extraterrestrial environments is investigated. Differential scanning calorimetry showed that aerogel blanket was thermally stable over - 150 to 126 °C. The outgassing behavior, e.g., total mass loss, collected volatile condensable materials, water vapor regained and recovered mass loss, was within acceptable range recommended for the space applications. ASTM tension and tear tests confirmed the material's mechanical integrity. The thermo-optical properties remained nearly unaltered in simulated space environmental tests such as relative humidity, thermal cycling and thermo-vacuum tests and confirmed the space worthiness of the aerogel. Aluminized Kapton stitched or anchored to the blanket could be used to control the optical transparency of the aerogel. These outcomes highlight the potential of commercial aerogel composite blankets as passive thermal control element in spacecraft. Structural and chemical characterization of the material was also done using scanning electron microscopy, Fourier transform infrared spectroscopy and x-ray photoelectron spectroscopy.
Algorithm improvement for phase control of subharmonic buncher
Zhang Junqiang; Yu Luyang; Yin Chongxian; Zhao Minghua; Zhong Shaopeng
2011-01-01
To realize digital phase control of subharmonic buncher,a low level radio frequency control system using down converter, IQ modulator and demodulator techniques, and commercial PXI system, was developed on the platform of LabVIEW. A single-neuron adaptive PID (proportional-integral-derivative) control algorithm with ability of self learning was adopted, satisfying the requirements of phase stability. By comparison with the traditional PID algorithm in field testing, the new algorithm has good stability, fast response and strong anti-interference ability. (authors)
Numerical Algorithms for Deterministic Impulse Control Models with Applications
Grass, D.; Chahim, M.
2012-01-01
Abstract: In this paper we describe three different algorithms, from which two (as far as we know) are new in the literature. We take both the size of the jump as the jump times as decision variables. The first (new) algorithm considers an Impulse Control problem as a (multipoint) Boundary Value
Dynamic Algorithm for LQGPC Predictive Control
Hangstrup, M.; Ordys, A.W.; Grimble, M.J.
1998-01-01
In this paper the optimal control law is derived for a multi-variable state space Linear Quadratic Gaussian Predictive Controller (LQGPC). A dynamic performance index is utilized resulting in an optimal steady state controller. Knowledge of future reference values is incorporated into the control......In this paper the optimal control law is derived for a multi-variable state space Linear Quadratic Gaussian Predictive Controller (LQGPC). A dynamic performance index is utilized resulting in an optimal steady state controller. Knowledge of future reference values is incorporated...... into the controller design and the solution is derived using the method of Lagrange multipliers. It is shown how well-known GPC controller can be obtained as a special case of the LQGPC controller design. The important advantage of using the LQGPC framework for designing predictive, e.g. GPS is that LQGPC enables...
Secondary Coordinated Control of Islanded Microgrids Based on Consensus Algorithms
Wu, Dan; Dragicevic, Tomislav; Vasquez, Juan Carlos
2014-01-01
systems. Nevertheless, the conventional decentralized secondary control, although does not need to be implemented in a microgrid central controller (MGCC), it has the limitation that all decentralized controllers must be mutually synchronized. In a clear cut contrast, the proposed secondary control......This paper proposes a decentralized secondary control for islanded microgrids based on consensus algorithms. In a microgrid, the secondary control is implemented in order to eliminate the frequency changes caused by the primary control when coordinating renewable energy sources and energy storage...... requires only a more simplified communication protocol and a sparse communication network. Moreover, the proposed approach based on dynamic consensus algorithms is able to achieve the coordinated secondary performance even when all units are initially out-of-synchronism. The control algorithm implemented...
Researching on YH100 Numerical Control Servo Press Hydraulic Control System and Control Algorithm
Kai LI
2014-09-01
Full Text Available In order to study the numerical control (NC servo press hydraulic control system and its control algorithm. The numerical control servo press performance and control principle of hydraulic control system are analyzed. According to the flow equation of the hydraulic control valve, hydraulic cylinder flow continuity equation and the force balance equation of the hydraulic cylinder with load press, the mathematical model of hydraulic control system is established. And the servo press hydraulic system transfer function is deduced. Introducing the suitable immune particle swarm control algorithm for servo press hydraulic system, and the control system block diagram is established. Immune algorithm is used to optimize new control parameters of the system and adopt the new optimization results to optimize the system simulation. The simulation result shows that the hydraulic system’s transition time controlled by the immune particle swarm algorithm is shorter than traditional ones, and the control performance is obviously improved. Finally it can be concluded that immune particle swarm PID control have these characteristics such as quickness, stability and accuracy. Applying this principle into application, the obtained YH100 numerical control servo press hydraulic control system meets the requirement.
Basic Research on Adaptive Model Algorithmic Control
1985-12-01
Control Conference. Richalet, J., A. Rault, J.L. Testud and J. Papon (1978). Model predictive heuristic control: applications to industrial...pp.977-982. Richalet, J., A. Rault, J. L. Testud and J. Papon (1978). Model predictive heuristic control: applications to industrial processes
Robust reactor power control system design by genetic algorithm
Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)
1997-12-31
The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)
Robust reactor power control system design by genetic algorithm
Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)
1998-12-31
The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)
Randomized algorithms in automatic control and data mining
Granichin, Oleg; Toledano-Kitai, Dvora
2015-01-01
In the fields of data mining and control, the huge amount of unstructured data and the presence of uncertainty in system descriptions have always been critical issues. The book Randomized Algorithms in Automatic Control and Data Mining introduces the readers to the fundamentals of randomized algorithm applications in data mining (especially clustering) and in automatic control synthesis. The methods proposed in this book guarantee that the computational complexity of classical algorithms and the conservativeness of standard robust control techniques will be reduced. It is shown that when a problem requires "brute force" in selecting among options, algorithms based on random selection of alternatives offer good results with certain probability for a restricted time and significantly reduce the volume of operations.
Fuzzy power control algorithm for a pressurized water reactor
Hah, Y.J.; Lee, B.W.
1994-01-01
A fuzzy power control algorithm is presented for automatic reactor power control in a pressurized water reactor (PWR). Automatic power shape control is complicated by the use of control rods with a conventional proportional-integral-differential controller because it is highly coupled with reactivity compensation. Thus, manual shape controls are usually employed even for the limited capability needed for load-following operations including frequency control. In an attempt to achieve automatic power shape control without any design modifications to the core, a fuzzy power control algorithm is proposed. For the fuzzy control, the rule base is formulated based on a multiple-input multiple-output system. The minimum operation rule and the center of area method are implemented for the development of the fuzzy algorithm. The fuzzy power control algorithm has been applied to Yonggwang Nuclear Unit 3. The simulation results show that the fuzzy control can be adapted as a practical control strategy for automatic reactor power control of PWRs during the load-following operations
JingRui Zhang
2015-03-01
Full Text Available In this article, we focus on safe and effective completion of a rendezvous and docking task by looking at planning approaches and control with fuel-optimal rendezvous for a target spacecraft running on a near-circular reference orbit. A variety of existent practical path constraints are considered, including the constraints of field of view, impulses, and passive safety. A rendezvous approach is calculated by using a hybrid genetic algorithm with those constraints. Furthermore, a control method of trajectory tracking is adopted to overcome the external disturbances. Based on Clohessy–Wiltshire equations, we first construct the mathematical model of optimal planning approaches of multiple impulses with path constraints. Second, we introduce the principle of hybrid genetic algorithm with both stronger global searching ability and local searching ability. We additionally explain the application of this algorithm in the problem of trajectory planning. Then, we give three-impulse simulation examples to acquire an optimal rendezvous trajectory with the path constraints presented in this article. The effectiveness and applicability of the tracking control method are verified with the optimal trajectory above as control objective through the numerical simulation.
Design and simulation of airport congestion control algorithms
Simaiakis, Ioannis; Balakrishnan, Hamsa
2014-01-01
This paper proposes a stochastic model of runway departures and a dynamic programming algorithm for their control at congested airports. Using a multi-variable state description that includes the capacity forecast, the runway system is modeled as a semi-Markov process. The paper then introduces a queuing system for modeling the controlled departure process that enables the efficient calculation of optimal pushback policies using decomposition techniques. The developed algorithm is simulated a...
Allen, Cheryl L.
1991-01-01
Enhanced engineering tools can be obtained through the integration of expert system methodologies and existing design software. The application of these methodologies to the spacecraft design and cost model (SDCM) software provides an improved technique for the selection of hardware for unmanned spacecraft subsystem design. The knowledge engineering system (KES) expert system development tool was used to implement a smarter equipment section algorithm than that which is currently achievable through the use of a standard data base system. The guidance, navigation, and control subsystems of the SDCM software was chosen as the initial subsystem for implementation. The portions of the SDCM code which compute the selection criteria and constraints remain intact, and the expert system equipment selection algorithm is embedded within this existing code. The architecture of this new methodology is described and its implementation is reported. The project background and a brief overview of the expert system is described, and once the details of the design are characterized, an example of its implementation is demonstrated.
National Aeronautics and Space Administration — Spacecraft and remote vehicle operations demand a high level of responsiveness in dynamic environments. During operations it is possible for unexpected events and...
National Aeronautics and Space Administration — Spacecraft operations demand a high level of responsiveness in dynamic environments. During operations, it is possible for unexpected events and anomalies to disrupt...
B ampersand W PWR advanced control system algorithm development
Winks, R.W.; Wilson, T.L.; Amick, M.
1992-01-01
This paper discusses algorithm development of an Advanced Control System for the B ampersand W Pressurized Water Reactor (PWR) nuclear power plant. The paper summarizes the history of the project, describes the operation of the algorithm, and presents transient results from a simulation of the plant and control system. The history discusses the steps in the development process and the roles played by the utility owners, B ampersand W Nuclear Service Company (BWNS), Oak Ridge National Laboratory (ORNL), and the Foxboro Company. The algorithm description is a brief overview of the features of the control system. The transient results show that operation of the algorithm in a normal power maneuvering mode and in a moderately large upset following a feedwater pump trip
Visual Perception Based Rate Control Algorithm for HEVC
Feng, Zeqi; Liu, PengYu; Jia, Kebin
2018-01-01
For HEVC, rate control is an indispensably important video coding technology to alleviate the contradiction between video quality and the limited encoding resources during video communication. However, the rate control benchmark algorithm of HEVC ignores subjective visual perception. For key focus regions, bit allocation of LCU is not ideal and subjective quality is unsatisfied. In this paper, a visual perception based rate control algorithm for HEVC is proposed. First bit allocation weight of LCU level is optimized based on the visual perception of luminance and motion to ameliorate video subjective quality. Then λ and QP are adjusted in combination with the bit allocation weight to improve rate distortion performance. Experimental results show that the proposed algorithm reduces average 0.5% BD-BR and maximum 1.09% BD-BR at no cost in bitrate accuracy compared with HEVC (HM15.0). The proposed algorithm devotes to improving video subjective quality under various video applications.
Mukhopadhyay, A. K.
1979-01-01
Design adequacy of the lead-lag compensator of the frequency loop, accuracy checking of the analytical expression for the electrical motor transfer function, and performance evaluation of the speed control servo of the digital tape recorder used on-board the 1976 Viking Mars Orbiters and Voyager 1977 Jupiter-Saturn flyby spacecraft are analyzed. The transfer functions of the most important parts of a simplified frequency loop used for test simulation are described and ten simulation cases are reported. The first four of these cases illustrate the method of selecting the most suitable transfer function for the hysteresis synchronous motor, while the rest verify and determine the servo performance parameters and alternative servo compensation schemes. It is concluded that the linear methods provide a starting point for the final verification/refinement of servo design by nonlinear time response simulation and that the variation of the parameters of the static/dynamic Coulomb friction is as expected in a long-life space mission environment.
Reactor controller design using genetic algorithms with simulated annealing
Erkan, K.; Buetuen, E.
2000-01-01
This chapter presents a digital control system for ITU TRIGA Mark-II reactor using genetic algorithms with simulated annealing. The basic principles of genetic algorithms for problem solving are inspired by the mechanism of natural selection. Natural selection is a biological process in which stronger individuals are likely to be winners in a competing environment. Genetic algorithms use a direct analogy of natural evolution. Genetic algorithms are global search techniques for optimisation but they are poor at hill-climbing. Simulated annealing has the ability of probabilistic hill-climbing. Thus, the two techniques are combined here to get a fine-tuned algorithm that yields a faster convergence and a more accurate search by introducing a new mutation operator like simulated annealing or an adaptive cooling schedule. In control system design, there are currently no systematic approaches to choose the controller parameters to obtain the desired performance. The controller parameters are usually determined by test and error with simulation and experimental analysis. Genetic algorithm is used automatically and efficiently searching for a set of controller parameters for better performance. (orig.)
Impulse position control algorithms for nonlinear systems
Sesekin, A. N., E-mail: sesekin@list.ru [Ural Federal University, 19 S. Mira, Ekaterinburg, 620002 (Russian Federation); Institute of Mathematics and Mechanics, Ural Division of Russian Academy of Sciences, 16 S. Kovalevskaya, Ekaterinburg, 620990 (Russian Federation); Nepp, A. N., E-mail: anepp@urfu.ru [Ural Federal University, 19 S. Mira, Ekaterinburg, 620002 (Russian Federation)
2015-11-30
The article is devoted to the formalization and description of impulse-sliding regime in nonlinear dynamical systems that arise in the application of impulse position controls of a special kind. The concept of trajectory impulse-sliding regime formalized as some limiting network element Euler polygons generated by a discrete approximation of the impulse position control This paper differs from the previously published papers in that it uses a definition of solutions of systems with impulse controls, it based on the closure of the set of smooth solutions in the space of functions of bounded variation. The need for the study of such regimes is the fact that they often arise when parry disturbances acting on technical or economic control system.
Impulse position control algorithms for nonlinear systems
Sesekin, A. N.; Nepp, A. N.
2015-11-01
The article is devoted to the formalization and description of impulse-sliding regime in nonlinear dynamical systems that arise in the application of impulse position controls of a special kind. The concept of trajectory impulse-sliding regime formalized as some limiting network element Euler polygons generated by a discrete approximation of the impulse position control This paper differs from the previously published papers in that it uses a definition of solutions of systems with impulse controls, it based on the closure of the set of smooth solutions in the space of functions of bounded variation. The need for the study of such regimes is the fact that they often arise when parry disturbances acting on technical or economic control system.
Montgomery, Raymond C.; Ghosh, Dave; Tobbe, Patrick A.; Weathers, John M.; Manouchehri, Davoud; Lindsay, Thomas S.
1994-01-01
This paper presents an end-point control concept designed to enable precision telerobotic control of manipulator-coupled spacecraft. The concept employs a hardware unit (end-point control unit EPCU) that is positioned between the end-effector of the Space Shuttle Remote Manipulator System and the payload. Features of the unit are active compliance (control of the displacement between the end-effector and the payload), to allow precision control of payload motions, and inertial load relief, to prevent the transmission of loads between the end-effector and the payload. This paper presents the concept and studies the active compliance feature using a simulation and hardware. Results of the simulation show the effectiveness of the EPCU in smoothing the motion of the payload. Results are presented from initial, limited tests of a laboratory hardware unit on a robotic arm testbed at the l Space Flight Center. Tracking performance of the arm in a constant speed automated retraction and extension maneuver of a heavy payload with and without the unit active is compared for the design speed and higher speeds. Simultaneous load reduction and tracking performance are demonstrated using the EPCU.
Immune algorithm based active PID control for structure systems
Lee, Young Jin; Cho, Hyun Cheol; Lee, Kwon Soon
2006-01-01
An immune algorithm is a kind of evolutional computation strategies, which is developed in the basis of a real immune mechanism in the human body. Recently, scientific or engineering applications using this scheme are remarkably increased due to its significant ability in terms of adaptation and robustness for external disturbances. Particularly, this algorithm is efficient to search optimal parameters against complicated dynamic systems with uncertainty and perturbation. In this paper, we investigate an immune algorithm embedded Proportional Integral Derivate (called I P ID) control, in which an optimal parameter vector of the controller is determined offline by using a cell-mediated immune response of the immunized mechanism. For evaluation, we apply the proposed control to mitigation of vibrations for nonlinear structural systems, cased by external environment load such as winds and earthquakes. Comparing to traditional controls under same simulation scenarios, we demonstrate the innovation control is superior especially in robustness aspect
2015-12-01
communications between the MicroAuto Box and the ground station computer [58]. SimSat users design experiments in the MATLAB® Simulink environment and use an...Guidance, Control, and Dynamics, vol. 35, no. 4, pp. 1094–1103, 2012. [44] Z. Sun, L. Zhang, G. Jin, and X. Yang, “Analysis of inertia dyadic uncertainty
Searching for the majority: algorithms of voluntary control.
Jin Fan
Full Text Available Voluntary control of information processing is crucial to allocate resources and prioritize the processes that are most important under a given situation; the algorithms underlying such control, however, are often not clear. We investigated possible algorithms of control for the performance of the majority function, in which participants searched for and identified one of two alternative categories (left or right pointing arrows as composing the majority in each stimulus set. We manipulated the amount (set size of 1, 3, and 5 and content (ratio of left and right pointing arrows within a set of the inputs to test competing hypotheses regarding mental operations for information processing. Using a novel measure based on computational load, we found that reaction time was best predicted by a grouping search algorithm as compared to alternative algorithms (i.e., exhaustive or self-terminating search. The grouping search algorithm involves sampling and resampling of the inputs before a decision is reached. These findings highlight the importance of investigating the implications of voluntary control via algorithms of mental operations.
Assessment and Control of Spacecraft Charging Risks on the International Space Station
Koontz, Steve; Valentine, Mark; Keeping, Thomas; Edeen, Marybeth; Spetch, William; Dalton, Penni
2004-01-01
The International Space Station (ISS) operates in the F2 region of Earth's ionosphere, orbiting at altitudes ranging from 350 to 450 km at an inclination of 51.6 degrees. The relatively dense, cool F2 ionospheric plasma suppresses surface charging processes much of the time, and the flux of relativistic electrons is low enough to preclude deep dielectric charging processes. The most important spacecraft charging processes in the ISS orbital environment are: 1) ISS electrical power system interactions with the F2 plasma, 2) magnetic induction processes resulting from flight through the geomagnetic field and, 3) charging processes that result from interaction with auroral electrons at high latitude. Recently, the continuing review and evaluation of putative ISS charging hazards required by the ISS Program Office revealed that ISS charging could produce an electrical shock hazard to the ISS crew during extravehicular activity (EVA). ISS charging risks are being evaluated in an ongoing measurement and analysis campaign. The results of ISS charging measurements are combined with a recently developed model of ISS charging (the Plasma Interaction Model) and an exhaustive analysis of historical ionospheric variability data (ISS Ionospheric Specification) to evaluate ISS charging risks using Probabilistic Risk Assessment (PRA) methods. The PRA combines estimates of the frequency of occurrence and severity of the charging hazards with estimates of the reliability of various hazard controls systems, as required by NASA s safety and risk management programs, to enable design and selection of a hazard control approach that minimizes overall programmatic and personnel risk. The PRA provides a quantitative methodology for incorporating the results of the ISS charging measurement and analysis campaigns into the necessary hazard reports, EVA procedures, and ISS flight rules required for operating ISS in a safe and productive manner.
Efficient evolutionary algorithms for optimal control
López Cruz, I.L.
2002-01-01
If optimal control problems are solved by means of gradient based local search methods, convergence to local solutions is likely. Recently, there has been an increasing interest in the use
Emergency strategy optimization for the environmental control system in manned spacecraft
Li, Guoxiang; Pang, Liping; Liu, Meng; Fang, Yufeng; Zhang, Helin
2018-02-01
It is very important for a manned environmental control system (ECS) to be able to reconfigure its operation strategy in emergency conditions. In this article, a multi-objective optimization is established to design the optimal emergency strategy for an ECS in an insufficient power supply condition. The maximum ECS lifetime and the minimum power consumption are chosen as the optimization objectives. Some adjustable key variables are chosen as the optimization variables, which finally represent the reconfigured emergency strategy. The non-dominated sorting genetic algorithm-II is adopted to solve this multi-objective optimization problem. Optimization processes are conducted at four different carbon dioxide partial pressure control levels. The study results show that the Pareto-optimal frontiers obtained from this multi-objective optimization can represent the relationship between the lifetime and the power consumption of the ECS. Hence, the preferred emergency operation strategy can be recommended for situations when there is suddenly insufficient power.
Computationally efficient model predictive control algorithms a neural network approach
Ławryńczuk, Maciej
2014-01-01
This book thoroughly discusses computationally efficient (suboptimal) Model Predictive Control (MPC) techniques based on neural models. The subjects treated include: · A few types of suboptimal MPC algorithms in which a linear approximation of the model or of the predicted trajectory is successively calculated on-line and used for prediction. · Implementation details of the MPC algorithms for feedforward perceptron neural models, neural Hammerstein models, neural Wiener models and state-space neural models. · The MPC algorithms based on neural multi-models (inspired by the idea of predictive control). · The MPC algorithms with neural approximation with no on-line linearization. · The MPC algorithms with guaranteed stability and robustness. · Cooperation between the MPC algorithms and set-point optimization. Thanks to linearization (or neural approximation), the presented suboptimal algorithms do not require d...
Kechichian, J. A.
1984-01-01
Kamel's (1973) East-West Stationkeeping Analysis is extended and an algorithm is presented that targets the geosynchronous spacecraft to the ideal initial conditions starting from any given relative longitude deviation within a given tolerance deadband in order to repeat the ideal longitudinal drift cycle that results in the longest possible period of time between maneuvers. The motion description takes into account the perturbations introduced by earth's tesseral harmonics and by the luni-solar gravity, assuming a near-circular orbit that requires only the control of orbital energy to repeat the ideal drift cycle via a single impulsive velocity change. The location of the maneuver along the orbit is such that the post-Delta-V eccentricity is always minimized.
Mkuzangwe, NNP
2015-08-01
Full Text Available This work implements two anomaly detection algorithms for detecting Transmission Control Protocol Synchronized (TCP SYN) flooding attack. The two algorithms are an adaptive threshold algorithm and a cumulative sum (CUSUM) based algorithm...
Tuning of active vibration controllers for ACTEX by genetic algorithm
Kwak, Moon K.; Denoyer, Keith K.
1999-06-01
This paper is concerned with the optimal tuning of digitally programmable analog controllers on the ACTEX-1 smart structures flight experiment. The programmable controllers for each channel include a third order Strain Rate Feedback (SRF) controller, a fifth order SRF controller, a second order Positive Position Feedback (PPF) controller, and a fourth order PPF controller. Optimal manual tuning of several control parameters can be a difficult task even though the closed-loop control characteristics of each controller are well known. Hence, the automatic tuning of individual control parameters using Genetic Algorithms is proposed in this paper. The optimal control parameters of each control law are obtained by imposing a constraint on the closed-loop frequency response functions using the ACTEX mathematical model. The tuned control parameters are then uploaded to the ACTEX electronic control electronics and experiments on the active vibration control are carried out in space. The experimental results on ACTEX will be presented.
Towards Automatic Controller Design using Multi-Objective Evolutionary Algorithms
Pedersen, Gerulf
of evolutionary computation, a choice was made to use multi-objective algorithms for the purpose of aiding in automatic controller design. More specifically, the choice was made to use the Non-dominated Sorting Genetic Algorithm II (NSGAII), which is one of the most potent algorithms currently in use...... for automatic controller design. However, because the field of evolutionary computation is relatively unknown in the field of control engineering, this thesis also includes a comprehensive introduction to the basic field of evolutionary computation as well as a description of how the field has previously been......In order to design the controllers of tomorrow, a need has risen for tools that can aid in the design of these. A desire to use evolutionary computation as a tool to achieve that goal is what gave inspiration for the work contained in this thesis. After having studied the foundations...
Reactive Collision Avoidance Algorithm
Scharf, Daniel; Acikmese, Behcet; Ploen, Scott; Hadaegh, Fred
2010-01-01
The reactive collision avoidance (RCA) algorithm allows a spacecraft to find a fuel-optimal trajectory for avoiding an arbitrary number of colliding spacecraft in real time while accounting for acceleration limits. In addition to spacecraft, the technology can be used for vehicles that can accelerate in any direction, such as helicopters and submersibles. In contrast to existing, passive algorithms that simultaneously design trajectories for a cluster of vehicles working to achieve a common goal, RCA is implemented onboard spacecraft only when an imminent collision is detected, and then plans a collision avoidance maneuver for only that host vehicle, thus preventing a collision in an off-nominal situation for which passive algorithms cannot. An example scenario for such a situation might be when a spacecraft in the cluster is approaching another one, but enters safe mode and begins to drift. Functionally, the RCA detects colliding spacecraft, plans an evasion trajectory by solving the Evasion Trajectory Problem (ETP), and then recovers after the collision is avoided. A direct optimization approach was used to develop the algorithm so it can run in real time. In this innovation, a parameterized class of avoidance trajectories is specified, and then the optimal trajectory is found by searching over the parameters. The class of trajectories is selected as bang-off-bang as motivated by optimal control theory. That is, an avoiding spacecraft first applies full acceleration in a constant direction, then coasts, and finally applies full acceleration to stop. The parameter optimization problem can be solved offline and stored as a look-up table of values. Using a look-up table allows the algorithm to run in real time. Given a colliding spacecraft, the properties of the collision geometry serve as indices of the look-up table that gives the optimal trajectory. For multiple colliding spacecraft, the set of trajectories that avoid all spacecraft is rapidly searched on
Design and Simulation of a MEMS Control Moment Gyroscope for the Sub-Kilogram Spacecraft
Weizheng Yuan
2010-04-01
Full Text Available A novel design of a microelectromechanical systems (MEMS control moment gyroscope (MCMG was proposed in this paper in order to generate a torque output with a magnitude of 10-6 N∙m. The MCMG consists of two orthogonal angular vibration systems, i.e., the rotor and gimbal; the coupling between which is based on the Coriolis effect and will cause a torque output in the direction perpendicular to the two vibrations. The angular rotor vibration was excited by the in-plane electrostatic rotary comb actuators, while the angular gimbal vibration was driven by an out-of-plane electrostatic parallel plate actuator. A possible process flow to fabricate the structure was proposed and discussed step by step. Furthermore, an array configuration using four MCMGs as an effective element, in which the torque was generated with a phase difference of 90 degrees between every two MCMGs, was proposed to smooth the inherent fluctuation of the torque output for a vibrational MCMG. The parasitic torque was cancelled by two opposite MCMGs with a phase difference of 180 degrees. The designed MCMG was about 1.1 cm × 1.1 cm × 0.04 cm in size and 0.1 g in weight. The simulation results showed that the maximum torque output of a MCMG, the resonant frequency of which was approximately 1,000 Hz, was about 2.5 × 10-8 N∙m. The element with four MCMGs could generate a torque of 5 × 10-8 N∙m. The torque output could reach a magnitude of 10-6 N∙m when the frequency was improved from 1,000 Hz to 10,000 Hz. Using arrays of 4 × 4 effective elements on a 1 kg spacecraft with a standard form factor of 10 cm × 10 cm × 10 cm, a 10 degrees attitude change could be achieved in 26.96s.
polynomial) division have been found in Vedic Mathematics which are dated much before Euclid's algorithm. A programming language Is used to describe an algorithm for execution on a computer. An algorithm expressed using a programming.
Stall Recovery Guidance Algorithms Based on Constrained Control Approaches
Stepanyan, Vahram; Krishnakumar, Kalmanje; Kaneshige, John; Acosta, Diana
2016-01-01
Aircraft loss-of-control, in particular approach to stall or fully developed stall, is a major factor contributing to aircraft safety risks, which emphasizes the need to develop algorithms that are capable of assisting the pilots to identify the problem and providing guidance to recover the aircraft. In this paper we present several stall recovery guidance algorithms, which are implemented in the background without interfering with flight control system and altering the pilot's actions. They are using input and state constrained control methods to generate guidance signals, which are provided to the pilot in the form of visual cues. It is the pilot's decision to follow these signals. The algorithms are validated in the pilot-in-the loop medium fidelity simulation experiment.
A Traffic Prediction Algorithm for Street Lighting Control Efficiency
POPA Valentin
2013-01-01
Full Text Available This paper presents the development of a traffic prediction algorithm that can be integrated in a street lighting monitoring and control system. The prediction algorithm must enable the reduction of energy costs and improve energy efficiency by decreasing the light intensity depending on the traffic level. The algorithm analyses and processes the information received at the command center based on the traffic level at different moments. The data is collected by means of the Doppler vehicle detection sensors integrated within the system. Thus, two methods are used for the implementation of the algorithm: a neural network and a k-NN (k-Nearest Neighbor prediction algorithm. For 500 training cycles, the mean square error of the neural network is 9.766 and for 500.000 training cycles the error amounts to 0.877. In case of the k-NN algorithm the error increases from 8.24 for k=5 to 12.27 for a number of 50 neighbors. In terms of a root means square error parameter, the use of a neural network ensures the highest performance level and can be integrated in a street lighting control system.
Algorithms and procedures in the model based control of accelerators
Bozoki, E.
1987-10-01
The overall design of a Model Based Control system was presented. The system consists of PLUG-IN MODULES, governed by a SUPERVISORY PROGRAM and communicating via SHARED DATA FILES. Models can be ladded or replaced without affecting the oveall system. There can be more then one module (algorithm) to perform the same task. The user can choose the most appropriate algorithm or can compare the results using different algorithms. Calculations, algorithms, file read and write, etc. which are used in more than one module, will be in a subroutine library. This feature will simplify the maintenance of the system. A partial list of modules is presented, specifying the task they perform. 19 refs., 1 fig
ROBUST CONTROL ALGORITHM FOR MULTIVARIABLE PLANTS WITH QUANTIZED OUTPUT
A. A. Margun
2017-01-01
Full Text Available The paper deals with robust output control algorithm for multivariable plants under disturbances. A plant is described by the system of linear differential equations with known relative degrees. Plant parameters are unknown but belong to the known closed bounded set. Plant state vector is unmeasured. Plant output is measured only via static quantizer. Control system algorithm is based on the high gain feedback method. Developed controller provides exponential convergence of tracking error to the bounded area. The area bounds depend on quantizer parameters and the value of external disturbances. Experimental approbation of the proposed control algorithm is performed with the use of Twin Rotor MIMO System laboratory bench. This bench is a helicopter like model with two degrees of freedom (pitch and yaw. DC motors are used as actuators. The output signals are measured via optical encoders. Mathematical model of laboratory bench is obtained. Proposed algorithm was compared with proportional - integral – differential controller in conditions of output quantization. Obtained results have confirmed the efficiency of proposed controller.
On flexible CAD of adaptive control and identification algorithms
Christensen, Anders; Ravn, Ole
1988-01-01
a total redesign of the system within each sample. The necessary design parameters are evaluated and a decision vector is defined, from which the identification algorithm can be generated by the program. Using the decision vector, a decision-node tree structure is built up, where the nodes define......SLLAB is a MATLAB-family software package for solving control and identification problems. This paper concerns the planning of a general-purpose subroutine structure for solving identification and adaptive control problems. A general-purpose identification algorithm is suggested, which allows...
Position Control of Switched Reluctance Motor Using Super Twisting Algorithm
Muhammad Rafiq Mufti
2016-01-01
Full Text Available The inherent problem of chattering in traditional sliding mode control is harmful for practical application of control system. This paper pays a considerable attention to a chattering-free control method, that is, higher-order sliding mode (super twisting algorithm. The design of a position controller for switched reluctance motor is presented and its stability is assured using Lyapunov stability theorem. In order to highlight the advantages of higher-order sliding mode controller (HOSMC, a classical first-order sliding mode controller (FOSMC is also applied to the same system and compared. The simulation results reflect the effectiveness of the proposed technique.
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.
Review of control algorithms for offshore wind turbines
Spruce, C.J.; Markou, H.; Leithead, W.E.; Dominguez Ruiz, S.
2005-07-01
Innovative turbine control strategies could allow the improvements to cost and performance considered essential to reduce the cost of energy from offshore wind farms around the UK. This project reviewed and investigated the possibility for further development of a power control algorithm originally developed by NEG Micon Rotors Ltd for use with offshore wind turbines in the hope that more advanced algorithms would reduce the loads on, and hence the costs of, components such as the foundation/support structure, tower, blades and bedplate. Three models (simulation model, linearisation of the simulation model and control model) were produced in order to conduct the review. Application of these models produced the conclusion that the size of the latest generation of offshore wind turbines has now reached a level where performance is starting to be constrained by fundamental factors in the dynamics caused by the machine's physical size. It was also concluded that an ideal control strategy could achieve potential cost savings for the tower and support structure of 5-10% of the total cost of the turbine plus support structure. Further work to develop controllers to reduce loads in the tower and support structure is urged. The report considers non-linear simulation, the linear model, the control model, general operation of the controller, the drive train damping filter, torque control, pitch control and advanced algorithms, and makes detailed recommendations for future work.
Review of control algorithms for offshore wind turbines
Spruce, C J; Markou, H; Leithead, W E; Dominguez Ruiz, S
2005-07-01
Innovative turbine control strategies could allow the improvements to cost and performance considered essential to reduce the cost of energy from offshore wind farms around the UK. This project reviewed and investigated the possibility for further development of a power control algorithm originally developed by NEG Micon Rotors Ltd for use with offshore wind turbines in the hope that more advanced algorithms would reduce the loads on, and hence the costs of, components such as the foundation/support structure, tower, blades and bedplate. Three models (simulation model, linearisation of the simulation model and control model) were produced in order to conduct the review. Application of these models produced the conclusion that the size of the latest generation of offshore wind turbines has now reached a level where performance is starting to be constrained by fundamental factors in the dynamics caused by the machine's physical size. It was also concluded that an ideal control strategy could achieve potential cost savings for the tower and support structure of 5-10% of the total cost of the turbine plus support structure. Further work to develop controllers to reduce loads in the tower and support structure is urged. The report considers non-linear simulation, the linear model, the control model, general operation of the controller, the drive train damping filter, torque control, pitch control and advanced algorithms, and makes detailed recommendations for future work.
Configuration-defined control algorithms with the ASDEX Upgrade DCS
Treutterer, Wolfgang, E-mail: Wolfgang.Treutterer@ipp.mpg.de [Max-Planck-Institut für Plasmaphysik, Boltzmannstr. 2, 85748 Garching (Germany); Cole, Richard [Unlimited Computer Systems, Seeshaupter Str. 15, 82393 Iffeldorf Germany (Germany); Gräter, Alexander [Max-Planck-Institut für Plasmaphysik, Boltzmannstr. 2, 85748 Garching (Germany); Lüddecke, Klaus [Unlimited Computer Systems, Seeshaupter Str. 15, 82393 Iffeldorf Germany (Germany); Neu, Gregor; Rapson, Christopher; Raupp, Gerhard; Zehetbauer, Thomas [Max-Planck-Institut für Plasmaphysik, Boltzmannstr. 2, 85748 Garching (Germany)
2016-11-15
Highlights: • Control algorithm built from combination of pre-fabricated standard function blocks. • Seamless integration in multi-threaded computation context. • Block composition defined by configuration data, only. - Abstract: The ASDEX Upgrade Discharge Control System (DCS) is a distributed real-time control system executing complex control and monitoring tasks. Up to now, DCS control algorithms have been implemented by coding dedicated application processes with the C++ programming language. Algorithm changes required code modification, compilation and commissioning which only experienced programmers could perform. This was a significant constraint of flexibility for both control system operation and design. The new approach extends DCS with the capability of configuration-defined control algorithms. These are composed of chains of small, configurable standard function blocks providing general purpose functions like algebraic operations, filters, feedback controllers, output limiters and decision logic. In a later phase a graphical editor could help to compose and modify such configuration in a Simulink-like fashion. Building algorithms from standard functions can result in a high number of elements. In order to achieve a similar performance as with C++ coding, it is essential to avoid administrative bottlenecks by design. As a consequence, DCS executes a function block chain in the context of a single real-time thread of an application process. No concurrency issues as in a multi-threaded context need to be considered resulting in strongly simplified signal handling and zero performance overhead for inter-block communication. Instead of signal-driven synchronization, a block scheduler derives the execution sequence automatically from the block dependencies as defined in the configuration. All blocks and connecting signals are instantiated dynamically, based on definitions in a configuration file. Algorithms thus are not defined in the code but only in
Application of genetic algorithms to tuning fuzzy control systems
Espy, Todd; Vombrack, Endre; Aldridge, Jack
1993-01-01
Real number genetic algorithms (GA) were applied for tuning fuzzy membership functions of three controller applications. The first application is our 'Fuzzy Pong' demonstration, a controller that controls a very responsive system. The performance of the automatically tuned membership functions exceeded that of manually tuned membership functions both when the algorithm started with randomly generated functions and with the best manually-tuned functions. The second GA tunes input membership functions to achieve a specified control surface. The third application is a practical one, a motor controller for a printed circuit manufacturing system. The GA alters the positions and overlaps of the membership functions to accomplish the tuning. The applications, the real number GA approach, the fitness function and population parameters, and the performance improvements achieved are discussed. Directions for further research in tuning input and output membership functions and in tuning fuzzy rules are described.
Fuzzy model predictive control algorithm applied in nuclear power plant
Zuheir, Ahmad
2006-01-01
The aim of this paper is to design a predictive controller based on a fuzzy model. The Takagi-Sugeno fuzzy model with an Adaptive B-splines neuro-fuzzy implementation is used and incorporated as a predictor in a predictive controller. An optimization approach with a simplified gradient technique is used to calculate predictions of the future control actions. In this approach, adaptation of the fuzzy model using dynamic process information is carried out to build the predictive controller. The easy description of the fuzzy model and the easy computation of the gradient sector during the optimization procedure are the main advantages of the computation algorithm. The algorithm is applied to the control of a U-tube steam generation unit (UTSG) used for electricity generation. (author)
Implantation of algorithms of diffuse control in DSPS
Perez C, B.
2003-01-01
In this thesis work there are presented: a) The characteristics and main components used in an electronic system based on a Dsp guided to control applications of processes, b) The description of an algorithm of diffuse control whose objective is the regulation of neutron power in a model of the punctual kinetics of a nuclear research reactor type TRIGA, and c) The installation in language assembler and execution in real time of the control algorithm in the system based on a Dsp. With regard to the installation and execution of the algorithm, the reaches of the project have been delimited to the following: a) Readiness of the entrance values to the controller in specific registrations of the system Dsp, b) Conversion of the entrances to the numerical formats with those that one obtains the best acting in the control algorithm, c) Execution of the algorithm until the obtaining of the value of the controller's exit, and d) Placement of the result in specific registrations of the Dsp for their later reading for an external parallel interface. It is necessary to mention that the simulation of the punctual kinetics of a reactor type TRIGA in the Pc and its integration with the control system based on the one Dsp is had contemplated as continuation of this work and that one of those will constitute main activities in my project of master thesis. A brief description of the topics presented in this thesis is given next. In the chapter one it is presented a general description of the diffuse logic and some of their applications in the industry. The main characteristics of a Dsp are also presented that they make it different from a micro controller or a microprocessor of general purpose. In the chapter 2 details of the internal architecture of the Dsp TMS320CS0 of Texas Instruments that are not explained with detail in the manual of user of the same one. This chapter has as objective to understand the internal hardware of the Dsp that is used for to carry out the program in
Application of epidemic algorithms for smart grids control
Krkoleva, Aleksandra
2012-01-01
Smart Grids are a new concept for electricity networks development, aiming to provide economically efficient and sustainable power system by integrating effectively the actions and needs of the network users. The thesis addresses the Smart Grids concept, with emphasis on the control strategies developed on the basis of epidemic algorithms, more specifically, gossip algorithms. The thesis is developed around three Smart grid aspects: the changed role of consumers in terms of taking part in providing services within Smart Grids; the possibilities to implement decentralized control strategies based on distributed algorithms; and information exchange and benefits emerging from implementation of information and communication technologies. More specifically, the thesis presents a novel approach for providing ancillary services by implementing gossip algorithms. In a decentralized manner, by exchange of information between the consumers and by making decisions on local level, based on the received information and local parameters, the group achieves its global objective, i. e. providing ancillary services. The thesis presents an overview of the Smart Grids control strategies with emphasises on new strategies developed for the most promising Smart Grids concepts, as Micro grids and Virtual power plants. The thesis also presents the characteristics of epidemic algorithms and possibilities for their implementation in Smart Grids. Based on the research on epidemic algorithms, two applications have been developed. These applications are the main outcome of the research. The first application enables consumers, represented by their commercial aggregators, to participate in load reduction and consequently, to participate in balancing market or reduce the balancing costs of the group. In this context, the gossip algorithms are used for aggregator's message dissemination for load reduction and households and small commercial and industrial consumers to participate in maintaining
control of a dc motor using fuzzy logic control algorithm
user
controller in the control performance of an industrial type DC motor using MATLAB. The fuzzy logic .... controlled separately excited permanent magnet DC motor (PMDC). ... When the field current is constant, the flux induced by the field ...
Perry, J. L.
2017-01-01
Contamination of a crewed spacecraft's cabin environment leading to environmental control and life support system (ECLSS) functional capability and operational margin degradation or loss can have an adverse effect on NASA's space exploration mission figures of merit-safety, mission success, effectiveness, and affordability. The role of evaluating the ECLSS's compatibility and cabin environmental impact as a key component of pass trace contaminant control is presented and the technical approach is described in the context of implementing NASA's safety and mission success objectives. Assessment examples are presented for a variety of chemicals used in vehicle systems and experiment hardware for the International Space Station program. The ECLSS compatibility and cabin environmental impact assessment approach, which can be applied to any crewed spacecraft development and operational effort, can provide guidance to crewed spacecraft system and payload developers relative to design criteria assigned ECLSS compatibility and cabin environmental impact ratings can be used by payload and system developers as criteria for ensuring adequate physical and operational containment. In additional to serving as an aid for guiding containment design, the assessments can guide flight rule and procedure development toward protecting the ECLSS as well as approaches for contamination event remediation.
Dong Yun Kim; Poong Hyun Seong; .
1997-01-01
In this research, we propose a fuzzy gain scheduler (FGS) with an intelligent learning algorithm for a reactor control. In the proposed algorithm, the gradient descent method is used in order to generate the rule bases of a fuzzy algorithm by learning. These rule bases are obtained by minimizing an objective function, which is called a performance cost function. The objective of the FGS with an intelligent learning algorithm is to generate gains, which minimize the error of system. The proposed algorithm can reduce the time and effort required for obtaining the fuzzy rules through the intelligent learning function. It is applied to reactor control of nuclear power plant (NPP), and the results are compared with those of a conventional PI controller with fixed gains. As a result, it is shown that the proposed algorithm is superior to the conventional PI controller. (author)
Mauldin, Rebecca H.
2010-01-01
In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.
System control fuzzy neural sewage pumping stations using genetic algorithms
Владлен Николаевич Кузнецов
2015-06-01
Full Text Available It is considered the system of management of sewage pumping station with regulators based on a neuron network with fuzzy logic. Linguistic rules for the controller based on fuzzy logic, maintaining the level of effluent in the receiving tank within the prescribed limits are developed. The use of genetic algorithms for neuron network training is shown.
Design of PID Controller Simulator based on Genetic Algorithm
Fahri VATANSEVER
2013-08-01
Full Text Available PID (Proportional Integral and Derivative controllers take an important place in the field of system controlling. Various methods such as Ziegler-Nichols, Cohen-Coon, Chien Hrones Reswick (CHR and Wang-Juang-Chan are available for the design of such controllers benefiting from the system time and frequency domain data. These controllers are in compliance with system properties under certain criteria suitable to the system. Genetic algorithms have become widely used in control system applications in parallel to the advances in the field of computer and artificial intelligence. In this study, PID controller designs have been carried out by means of classical methods and genetic algorithms and comparative results have been analyzed. For this purpose, a graphical user interface program which can be used for educational purpose has been developed. For the definite (entered transfer functions, the suitable P, PI and PID controller coefficients have calculated by both classical methods and genetic algorithms and many parameters and responses of the systems have been compared and presented numerically and graphically
Control of the lighting system using a genetic algorithm
Čongradac Velimir D.
2012-01-01
Full Text Available The manufacturing, distribution and use of electricity are of fundamental importance for the social life and they have the biggest influence on the environment associated with any human activity. The energy needed for building lighting makes up 20-40% of the total consumption. This paper displays the development of the mathematical model and genetic algorithm for the control of dimmable lighting on problems of regulating the level of internal lighting and increase of energetic efficiency using daylight. A series of experiments using the optimization algorithm on the realized model confirmed very high savings in electricity consumption.
Automatic brightness control algorithms and their effect on fluoroscopic imaging
Quinn, P.W.; Gagne, R.M.
1989-01-01
This paper reports a computer model used to investigate the effect on dose and image quality of three automatic brightness control (ABC) algorithms used in the imaging of barium during general-purpose fluoroscopy. A model incorporating all aspects of image formation - i.e., x- ray production, phantom attenuation, and energy absorption in the CSI phosphor - was driven according to each ABC algorithm as a function of patient thickness. The energy absorbed in the phosphor was kept constant, while the changes in exposure, integral dose, organ dose, and contrast were monitored
Park, Gee Yong; Seong, Poong Hyun
1994-01-01
In order to reduce the load of tuning works by trial-and-error for obtaining the best control performance of conventional fuzzy control algorithm, a fuzzy control algorithm with learning function is investigated in this work. This fuzzy control algorithm can make its rule base and tune the membership functions automatically by use of learning function which needs the data from the control actions of the plant operator or other controllers. Learning process in fuzzy control algorithm is to find the optimal values of parameters, which consist of the membership functions and the rule base, by gradient descent method. Learning speed of gradient descent is significantly improved in this work with the addition of modified momentum. This control algorithm is applied to the steam generator level control by computer simulations. The simulation results confirm the good performance of this control algorithm for level control and show that the fuzzy learning algorithm has the generalization capability for the relation of inputs and outputs and it also has the excellent capability of disturbance rejection
Qijia Yao
2017-07-01
Full Text Available The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated, and a hybrid optimization strategy based on Gauss pseudospectral method (GPM and direct shooting method (DSM is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions. The results indicate that the method is effective with good robustness. Keywords: Motion planning, Multibody spacecraft, Optimal control, Gauss pseudospectral method, Direct shooting method
Wind turbine pitch control using ICPSO-PID algorithm
Xu, Chang; Tian, Qiangqiang; Shen, Wen Zhong
2013-01-01
For the traditional simplified first-order pitch-control system model, it is difficult to describe a real dynamic characteristic of a variable pitch action system, thus a complete high order mathematical model has to be developed for the pitch control of wind turbine generation (WTG). In the paper...... controller parameters quickly; and the feed-forward controller for wind speed can improve dynamics of a pitch-control system; additionally the power controller can allow a wind turbine to have a constant power output as a wind speed is over the rated one. Compared with a conventional PID, the controller...... with ICPSO-PID algorithm has a smaller overshoot, a shorter tuning time and better robustness. The design method proposed in the paper can be applied in a practical electro-hydraulic pitch control system for WTG....
Robotics, vision and control fundamental algorithms in Matlab
Corke, Peter
2017-01-01
Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a newcomer to the field this can be quite daunting. For over 20 years the author has maintained two open-source MATLAB® Toolboxes, one for robotics and one for vision. They provide implementations of many important algorithms and allow users to work with real problems, not just trivial examples. This book makes the fundamental algorithms of robotics, vision and control accessible to all. It weaves together theory, algorithms and examples in a narrative that covers robotics and computer vision separately and together. Using the latest versions of the Toolboxes the author shows how complex problems can be decomposed and solved using just a few simple lines of code. The topics covered are guided by real problems observed by the author over many years as a practitioner of both robotics and compu...
Optimal control of hybrid qubits: Implementing the quantum permutation algorithm
Rivera-Ruiz, C. M.; de Lima, E. F.; Fanchini, F. F.; Lopez-Richard, V.; Castelano, L. K.
2018-03-01
The optimal quantum control theory is employed to determine electric pulses capable of producing quantum gates with a fidelity higher than 0.9997, when noise is not taken into account. Particularly, these quantum gates were chosen to perform the permutation algorithm in hybrid qubits in double quantum dots (DQDs). The permutation algorithm is an oracle based quantum algorithm that solves the problem of the permutation parity faster than a classical algorithm without the necessity of entanglement between particles. The only requirement for achieving the speedup is the use of a one-particle quantum system with at least three levels. The high fidelity found in our results is closely related to the quantum speed limit, which is a measure of how fast a quantum state can be manipulated. Furthermore, we model charge noise by considering an average over the optimal field centered at different values of the reference detuning, which follows a Gaussian distribution. When the Gaussian spread is of the order of 5 μ eV (10% of the correct value), the fidelity is still higher than 0.95. Our scheme also can be used for the practical realization of different quantum algorithms in DQDs.
Quantum control using genetic algorithms in quantum communication: superdense coding
Domínguez-Serna, Francisco; Rojas, Fernando
2015-01-01
We present a physical example model of how Quantum Control with genetic algorithms is applied to implement the quantum superdense code protocol. We studied a model consisting of two quantum dots with an electron with spin, including spin-orbit interaction. The electron and the spin get hybridized with the site acquiring two degrees of freedom, spin and charge. The system has tunneling and site energies as time dependent control parameters that are optimized by means of genetic algorithms to prepare a hybrid Bell-like state used as a transmission channel. This state is transformed to obtain any state of the four Bell basis as required by superdense protocol to transmit two bits of classical information. The control process protocol is equivalent to implement one of the quantum gates in the charge subsystem. Fidelities larger than 99.5% are achieved for the hybrid entangled state preparation and the superdense operations. (paper)
to as 'divide-and-conquer'. Although there has been a large effort in realizing efficient algorithms, there are not many universally accepted algorithm design paradigms. In this article, we illustrate algorithm design techniques such as balancing, greedy strategy, dynamic programming strategy, and backtracking or traversal of ...
Integrated control algorithms for plant environment in greenhouse
Zhang, Kanyu; Deng, Lujuan; Gong, Youmin; Wang, Shengxue
2003-09-01
In this paper a survey of plant environment control in artificial greenhouse was put forward for discussing the future development. Firstly, plant environment control started with the closed loop control of air temperature in greenhouse. With the emergence of higher property computer, the adaptive control algorithm and system identification were integrated into the control system. As adaptation control is more depending on observation of variables by sensors and yet many variables are unobservable or difficult to observe, especially for observation of crop growth status, so model-based control algorithm were developed. In order to evade modeling difficulty, one method is predigesting the models and the other method is utilizing fuzzy logic and neural network technology that realize the models by the black box and gray box theory. Studies on control method of plant environment in greenhouse by means of expert system (ES) and artificial intelligence (AI) have been initiated and developed. Nowadays, the research of greenhouse environment control focus on energy saving, optimal economic profit, enviornment protection and continualy develop.
Da Fonseca, Ijar M.; Goes, Luiz C. S.; Seito, Narumi; da Silva Duarte, Mayara K.; de Oliveira, Élcio Jeronimo
2017-08-01
In space the manipulators working space is characterized by the microgravity environment. In this environment the spacecraft floats and its rotational/translational motion may be excited by any internal and external disturbances. The complete system, i.e., the spacecraft and the associated robotic manipulator, floats and is sensitive to any reaction force and torque related to the manipulator's operation. In this sense the effort done by the robot may result in torque about the system center of mass and also in forces changing its translational motion. This paper analyzes the impact of the robot manipulator dynamics on the attitude motion and the associated control effort to keep the attitude stable during the manipulator's operation. The dynamics analysis is performed in the close proximity phase of rendezvous docking/berthing operation. In such scenario the linear system equations for the translation and attitude relative motions are appropriate. The computer simulations are implemented for the relative translational and rotational motion. The equations of motion have been simulated through computer by using the MatLab software. The LQR and the PID control laws are used for linear and nonlinear control, respectively, aiming to keep the attitude stable while the robot is in and out of service. The gravity-gradient and the residual magnetic torque are considered as external disturbances. The control efforts are analyzed for the manipulator in and out of service. The control laws allow the system stabilization and good performance when the manipulator is in service.
A geometric model of a V-slit Sun sensor correcting for spacecraft wobble
Mcmartin, W. P.; Gambhir, S. S.
1994-01-01
A V-Slit sun sensor is body-mounted on a spin-stabilized spacecraft. During injection from a parking or transfer orbit to some final orbit, the spacecraft may not be dynamically balanced. This may result in wobble about the spacecraft spin axis as the spin axis may not be aligned with the spacecraft's axis of symmetry. While the widely used models in Spacecraft Attitude Determination and Control, edited by Wertz, correct for separation, elevation, and azimuthal mounting biases, spacecraft wobble is not taken into consideration. A geometric approach is used to develop a method for measurement of the sun angle which corrects for the magnitude and phase of spacecraft wobble. The algorithm was implemented using a set of standard mathematical routines for spherical geometry on a unit sphere.
Synthesis of Control Algorithm for a Leaderheaded UAVs Group
I. O. Samodov
2015-01-01
Full Text Available Currently, a defense sphere uses unmanned aerial vehicles (UAVs. UAVs have several advantages over manned aircrafts such as small size, reduced combat losses of personnel, etc. In addition, in threat environment, it is necessary to arrange both bringing together distant from each other UAVs in a group and their undetected in radar fields compact flying in terms of the joint flight security.However, the task to control a UAVs group is much more difficult than to control a single UAV, since it is necessary not only to control the aircraft, but also take into account the relative position of objects in the group.To solve this problem two ways are possible: using a network exchange between members of the group on the "everyone with everyone" principle and organizing the leader-headed flight.The aim of the article is to develop and study a possible option of the UAVs group control with arranging a leader-headed flight to provide the undetected in radar fields compact flying in terms of the joint flight security.The article develops a universal algorithm to control leader-headed group, based on a new modification of the statistical theory of optimal control. It studies effectiveness of the algorithm. While solving this task, a flight of seven UAVs was simulated in the horizontal plane in a rectangular coordinate system. Control time, linear errors of desired alignment of UAV, and control errors with respect to angular coordinates are used as measures of merit.The study results of the algorithm to control a leader-headed group of UAVs confirmed that it is possible to fulfill tasks of flying free-of-collision group of UAVs with essentially reduced computational costs.
The algorithms for control of heating massive material
Karol Kostúr
2008-03-01
Full Text Available In numerous technological processes a change on the output follows change on the input pending specific time. This time is called dead time and if this time is too large, it causes problems in the control. This contribution is aimed at analyzing the algorithms of discreet regulation of the systems with dead time. Verified were classical PID regulator and a regulator using Dead Beat method. The control was also tried with Dead interval method. The regulators were tested by simulation and in the electrical laboratory furnace. The task was to control the temperature inside the material heated by furnace power.
Genetic Algorithm Optimizes Q-LAW Control Parameters
Lee, Seungwon; von Allmen, Paul; Petropoulos, Anastassios; Terrile, Richard
2008-01-01
A document discusses a multi-objective, genetic algorithm designed to optimize Lyapunov feedback control law (Q-law) parameters in order to efficiently find Pareto-optimal solutions for low-thrust trajectories for electronic propulsion systems. These would be propellant-optimal solutions for a given flight time, or flight time optimal solutions for a given propellant requirement. The approximate solutions are used as good initial solutions for high-fidelity optimization tools. When the good initial solutions are used, the high-fidelity optimization tools quickly converge to a locally optimal solution near the initial solution. Q-law control parameters are represented as real-valued genes in the genetic algorithm. The performances of the Q-law control parameters are evaluated in the multi-objective space (flight time vs. propellant mass) and sorted by the non-dominated sorting method that assigns a better fitness value to the solutions that are dominated by a fewer number of other solutions. With the ranking result, the genetic algorithm encourages the solutions with higher fitness values to participate in the reproduction process, improving the solutions in the evolution process. The population of solutions converges to the Pareto front that is permitted within the Q-law control parameter space.
Design and implementation of adaptive inverse control algorithm for a micro-hand control system
Wan-Cheng Wang
2014-01-01
Full Text Available The Letter proposes an online tuned adaptive inverse position control algorithm for a micro-hand. First, the configuration of the micro-hand is discussed. Next, a kinematic analysis of the micro-hand is investigated and then the relationship between the rotor position of micro-permanent magnet synchronous motor and the tip of the micro-finger is derived. After that, an online tuned adaptive inverse control algorithm, which includes an adaptive inverse model and an adaptive inverse control, is designed. The online tuned adaptive inverse control algorithm has better performance than the proportional–integral control algorithm does. In addition, to avoid damaging the object during the grasping process, an online force control algorithm is proposed here as well. An embedded micro-computer, cRIO-9024, is used to realise the whole position control algorithm and the force control algorithm by using software. As a result, the hardware circuit is very simple. Experimental results show that the proposed system can provide fast transient responses, good load disturbance responses, good tracking responses and satisfactory grasping responses.
Dynamics and Controls of Swarms of Femtosatellites
National Aeronautics and Space Administration — The proposed research activity is focused on the development of fuel and computationally efficient guidance and control algorithms for spacecraft swarms. The...
Lee, S.H.; Mudawar, I.; Hasan, Mohammad M.
2016-01-01
Highlights: • Hybrid Thermal Control System (H-TCS) is proposed for future spacecraft. • Thermodynamic performance of H-TCS is examined for different space missions. • Operational modes including single-phase, two-phase and heat pump are explored. • R134a is deemed most appropriate working fluid. - Abstract: An urgent need presently exists to develop a new class of versatile spacecraft capable of conducting different types of missions and enduring varying gravitational and temperature environments, including Lunar, Martian and Near Earth Object (NEOs). This study concerns the spacecraft's Thermal Control System (TCS), which tackles heat acquisition, especially from crew and avionics, heat transport, and ultimate heat rejection by radiation. The primary goal of the study is to explore the design and thermal performance of a Hybrid Thermal Control System (H-TCS) that would satisfy the diverse thermal requirements of the different space missions. The H-TCS must endure both ‘cold’ and ‘hot’ environments, reduce weight and size, and enhance thermodynamic performance. Four different operational modes are considered: single-phase, two-phase, basic heat pump and heat pump with liquid-side, suction-side heat exchanger. A thermodynamic trade study is conducted for six different working fluids to assess important performance parameters including mass flow rate of the working fluid, maximum pressure, radiator area, compressor/pump work, and coefficient of performance (COP). R134a is determined to be most suitable based on its ability to provide a balanced compromise between reducing flow rate and maintaining low system pressure, and a moderate coefficient of performance (COP); this fluid is also both nontoxic and nonflammable, and features zero ozone depletion potential (ODP) and low global warming potential (GWP). It is shown how specific mission stages dictate which mode of operation is most suitable, and this information is used to size the radiator for the
A Design of a Hybrid Non-Linear Control Algorithm
Farinaz Behrooz
2017-11-01
Full Text Available One of the high energy consuming devices in the buildings is the air-conditioning system. Designing a proper controller to consider the thermal comfort and simultaneously control the energy usage of the device will impact on the system energy efficiency and its performance. The aim of this study was to design a Multiple-Input and Multiple-Output (MIMO, non-linear, and intelligent controller on direct expansion air-conditioning system The control algorithm uses the Fuzzy Cognitive Map method as a main controller and the Generalized Predictive Control method is used for assigning the initial weights of the main controller. The results of the proposed controller shows that the controller was successfully designed and works in set point tracking and under disturbance rejection tests. The obtained results of the Generalized Predictive Control-Fuzzy Cognitive Map controller are compared with the previous MIMO Linear Quadratic Gaussian control design on the same direct expansion air-conditioning system under the same conditions. The comparative results indicate energy savings would be achieved with the proposed controller with long-term usage. Energy efficiency and thermal comfort conditions are achieved by the proposed controller.
Optimum Actuator Selection with a Genetic Algorithm for Aircraft Control
Rogers, James L.
2004-01-01
The placement of actuators on a wing determines the control effectiveness of the airplane. One approach to placement maximizes the moments about the pitch, roll, and yaw axes, while minimizing the coupling. For example, the desired actuators produce a pure roll moment without at the same time causing much pitch or yaw. For a typical wing, there is a large set of candidate locations for placing actuators, resulting in a substantially larger number of combinations to examine in order to find an optimum placement satisfying the mission requirements and mission constraints. A genetic algorithm has been developed for finding the best placement for four actuators to produce an uncoupled pitch moment. The genetic algorithm has been extended to find the minimum number of actuators required to provide uncoupled pitch, roll, and yaw control. A simplified, untapered, unswept wing is the model for each application.
Active control of flexible structures using a fuzzy logic algorithm
Cohen, Kelly; Weller, Tanchum; Ben-Asher, Joseph Z.
2002-08-01
This study deals with the development and application of an active control law for the vibration suppression of beam-like flexible structures experiencing transient disturbances. Collocated pairs of sensors/actuators provide active control of the structure. A design methodology for the closed-loop control algorithm based on fuzzy logic is proposed. First, the behavior of the open-loop system is observed. Then, the number and locations of collocated actuator/sensor pairs are selected. The proposed control law, which is based on the principles of passivity, commands the actuator to emulate the behavior of a dynamic vibration absorber. The absorber is tuned to a targeted frequency, whereas the damping coefficient of the dashpot is varied in a closed loop using a fuzzy logic based algorithm. This approach not only ensures inherent stability associated with passive absorbers, but also circumvents the phenomenon of modal spillover. The developed controller is applied to the AFWAL/FIB 10 bar truss. Simulated results using MATLAB© show that the closed-loop system exhibits fairly quick settling times and desirable performance, as well as robustness characteristics. To demonstrate the robustness of the control system to changes in the temporal dynamics of the flexible structure, the transient response to a considerably perturbed plant is simulated. The modal frequencies of the 10 bar truss were raised as well as lowered substantially, thereby significantly perturbing the natural frequencies of vibration. For these cases, too, the developed control law provides adequate settling times and rates of vibrational energy dissipation.
A neuro-fuzzy controlling algorithm for wind turbine
Lin, Li [Tampere Univ. of Technology (Finland); Eriksson, J T [Tampere Univ. of Technology (Finland)
1996-12-31
The wind turbine control system is stochastic and nonlinear, offering a demanding field for different control methods. An improved and efficient controller will have great impact on the cost-effectiveness of the technology. In this article, a design method for a self-organizing fuzzy controller is discussed, which combines two popular computational intelligence techniques, neural networks and fuzzy logic. Based on acquisited dynamic parameters of the wind, it can effectively predict wind changes in speed and direction. Maximum power can always be extracted from the kinetic energy of the wind. Based on the stimulating experiments applying nonlinear dynamics to a `Variable Speed Fixed Angle` wind turbine, it is demonstrated that the proposed control model 3rd learning algorithm provide a predictable, stable and accurate performance. The robustness of the controller to system parameter variations and measurement disturbances is also discussed. (author)
A neuro-fuzzy controlling algorithm for wind turbine
Li Lin [Tampere Univ. of Technology (Finland); Eriksson, J.T. [Tampere Univ. of Technology (Finland)
1995-12-31
The wind turbine control system is stochastic and nonlinear, offering a demanding field for different control methods. An improved and efficient controller will have great impact on the cost-effectiveness of the technology. In this article, a design method for a self-organizing fuzzy controller is discussed, which combines two popular computational intelligence techniques, neural networks and fuzzy logic. Based on acquisited dynamic parameters of the wind, it can effectively predict wind changes in speed and direction. Maximum power can always be extracted from the kinetic energy of the wind. Based on the stimulating experiments applying nonlinear dynamics to a `Variable Speed Fixed Angle` wind turbine, it is demonstrated that the proposed control model 3rd learning algorithm provide a predictable, stable and accurate performance. The robustness of the controller to system parameter variations and measurement disturbances is also discussed. (author)
Liu, Chuang; Ye, Dong; Shi, Keke; Sun, Zhaowei
2017-07-01
A novel improved mixed H2/H∞ control technique combined with poles assignment theory is presented to achieve attitude stabilization and vibration suppression simultaneously for flexible spacecraft in this paper. The flexible spacecraft dynamics system is described and transformed into corresponding state space form. Based on linear matrix inequalities (LMIs) scheme and poles assignment theory, the improved mixed H2/H∞ controller does not restrict the equivalence of the two Lyapunov variables involved in H2 and H∞ performance, which can reduce conservatives compared with traditional mixed H2/H∞ controller. Moreover, it can eliminate the coupling of Lyapunov matrix variables and system matrices by introducing slack variable that provides additional degree of freedom. Several simulations are performed to demonstrate the effectiveness and feasibility of the proposed method in this paper.
In-orbit evaluation of the control system/structural mode interactions of the OSO-8 spacecraft
Slafer, L. I.
1979-01-01
The Orbiting Solar Observatory-8 experienced severe structural mode/control loop interaction problems during the spacecraft development. Extensive analytical studies, using the hybrid coordinate modeling approach, and comprehensive ground testing were carried out in order to achieve the system's precision pointing performance requirements. A recent series of flight tests were conducted with the spacecraft in which a wide bandwidth, high resolution telemetry system was utilized to evaluate the on-orbit flexible dynamics characteristics of the vehicle along with the control system performance. The paper describes the results of these tests, reviewing the basic design problem, analytical approach taken, ground test philosophy, and on-orbit testing. Data from the tests was used to determine the primary mode frequency, damping, and servo coupling dynamics for the on-orbit condition. Additionally, the test results have verified analytically predicted differences between the on-orbit and ground test environments, and have led to a validation of both the analytical modeling and servo design techniques used during the development of the control system.
A Feedback Optimal Control Algorithm with Optimal Measurement Time Points
Felix Jost
2017-02-01
Full Text Available Nonlinear model predictive control has been established as a powerful methodology to provide feedback for dynamic processes over the last decades. In practice it is usually combined with parameter and state estimation techniques, which allows to cope with uncertainty on many levels. To reduce the uncertainty it has also been suggested to include optimal experimental design into the sequential process of estimation and control calculation. Most of the focus so far was on dual control approaches, i.e., on using the controls to simultaneously excite the system dynamics (learning as well as minimizing a given objective (performing. We propose a new algorithm, which sequentially solves robust optimal control, optimal experimental design, state and parameter estimation problems. Thus, we decouple the control and the experimental design problems. This has the advantages that we can analyze the impact of measurement timing (sampling independently, and is practically relevant for applications with either an ethical limitation on system excitation (e.g., chemotherapy treatment or the need for fast feedback. The algorithm shows promising results with a 36% reduction of parameter uncertainties for the Lotka-Volterra fishing benchmark example.
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.
Research on digital PID control algorithm for HPCT
Zeng Yi; Li Rui; Shen Tianjian; Ke Xinhua
2009-01-01
Digital PID applied in high-precision HPCT (High-precision current transducer) based on Digital Signal Processor (DSP) TMS320F2812 and special D/A converter was researched. By using increment style PID Control algorithm, the stability and precision of high-precision HPCT output voltage is improved. On basis of deeply analysing incremental digital PID, the scheme model of HPCT is proposed, the feasibility simulation using Matlab is given. Practical hardware circuit verified the incremental PID has closed-loop control process in tracking HPCT output voltage. (authors)
Nuclear power control system design using genetic algorithm
Lee, Yoon Joon; Cho, Kyung Ho
1996-01-01
The genetic algorithm(GA) is applied to the design of the nuclear power control system. The reactor control system model is described in the LQR configuration. The LQR system order is increased to make the tracking system. The key parameters of the design are weighting matrices, and these are usually determined through numerous simulations in the conventional design. To determine the more objective and optimal weightings, the improved GA is applied. The results show that the weightings determined by the GA yield the better system responses than those obtained by the conventional design method
A passively controlled appendage deployment system for the San Marco D/L spacecraft
Lang, W. E.; Frisch, H. P.; Schwartz, D. A.
1984-01-01
The analytical simulation of deployment dynamics of these two axis concepts as well as the evolution of practical designs for the add on deployable inertia boom units is described. With the boom free to swing back in response to Coriolis forces as well as outwards in response to centrifugal forces, the kinematics of motion are complex but admit the possibility of absorbing deployment energy in frictional or other damping devices about the radial axis, where large amplitude motions can occur and where the design envelope allows more available volume. An acceptable range is defined for frictional damping for any given spin rate. Inadequate damping allows boom motions which strike the spacecraft; excessive damping causes the boom to swing out and latch with damaging violence. The acceptable range is a design parameter and must accommodate spin rate tolerance and also the tolerance and repeatability of the damping mechanisms.
A comparison of three self-tuning control algorithms developed for the Bristol-Babcock controller
Tapp, P.A.
1992-04-01
A brief overview of adaptive control methods relating to the design of self-tuning proportional-integral-derivative (PID) controllers is given. The methods discussed include gain scheduling, self-tuning, auto-tuning, and model-reference adaptive control systems. Several process identification and parameter adjustment methods are discussed. Characteristics of the two most common types of self-tuning controllers implemented by industry (i.e., pattern recognition and process identification) are summarized. The substance of the work is a comparison of three self-tuning proportional-plus-integral (STPI) control algorithms developed to work in conjunction with the Bristol-Babcock PID control module. The STPI control algorithms are based on closed-loop cycling theory, pattern recognition theory, and model-based theory. A brief theory of operation of these three STPI control algorithms is given. Details of the process simulations developed to test the STPI algorithms are given, including an integrating process, a first-order system, a second-order system, a system with initial inverse response, and a system with variable time constant and delay. The STPI algorithms' performance with regard to both setpoint changes and load disturbances is evaluated, and their robustness is compared. The dynamic effects of process deadtime and noise are also considered. Finally, the limitations of each of the STPI algorithms is discussed, some conclusions are drawn from the performance comparisons, and a few recommendations are made. 6 refs
Diversity Controlling Genetic Algorithm for Order Acceptance and Scheduling Problem
Cheng Chen
2014-01-01
Full Text Available Selection and scheduling are an important topic in production systems. To tackle the order acceptance and scheduling problem on a single machine with release dates, tardiness penalty, and sequence-dependent setup times, in this paper a diversity controlling genetic algorithm (DCGA is proposed, in which a diversified population is maintained during the whole search process through survival selection considering both the fitness and the diversity of individuals. To measure the similarity between individuals, a modified Hamming distance without considering the unaccepted orders in the chromosome is adopted. The proposed DCGA was validated on 1500 benchmark instances with up to 100 orders. Compared with the state-of-the-art algorithms, the experimental results show that DCGA improves the solution quality obtained significantly, in terms of the deviation from upper bound.
Atwell, William; Koontz, Steve; Normand, Eugene
2012-01-01
In this paper we review the discovery of cosmic ray effects on the performance and reliability of microelectronic systems as well as on human health and safety, as well as the development of the engineering and health science tools used to evaluate and mitigate cosmic ray effects in earth surface, atmospheric flight, and space flight environments. Three twentieth century technological developments, 1) high altitude commercial and military aircraft; 2) manned and unmanned spacecraft; and 3) increasingly complex and sensitive solid state micro-electronics systems, have driven an ongoing evolution of basic cosmic ray science into a set of practical engineering tools (e.g. ground based test methods as well as high energy particle transport and reaction codes) needed to design, test, and verify the safety and reliability of modern complex electronic systems as well as effects on human health and safety. The effects of primary cosmic ray particles, and secondary particle showers produced by nuclear reactions with spacecraft materials, can determine the design and verification processes (as well as the total dollar cost) for manned and unmanned spacecraft avionics systems. Similar considerations apply to commercial and military aircraft operating at high latitudes and altitudes near the atmospheric Pfotzer maximum. Even ground based computational and controls systems can be negatively affected by secondary particle showers at the Earth's surface, especially if the net target area of the sensitive electronic system components is large. Accumulation of both primary cosmic ray and secondary cosmic ray induced particle shower radiation dose is an important health and safety consideration for commercial or military air crews operating at high altitude/latitude and is also one of the most important factors presently limiting manned space flight operations beyond low-Earth orbit (LEO).
A cooperative control algorithm for camera based observational systems.
Young, Joseph G.
2012-01-01
Over the last several years, there has been considerable growth in camera based observation systems for a variety of safety, scientific, and recreational applications. In order to improve the effectiveness of these systems, we frequently desire the ability to increase the number of observed objects, but solving this problem is not as simple as adding more cameras. Quite often, there are economic or physical restrictions that prevent us from adding additional cameras to the system. As a result, we require methods that coordinate the tracking of objects between multiple cameras in an optimal way. In order to accomplish this goal, we present a new cooperative control algorithm for a camera based observational system. Specifically, we present a receding horizon control where we model the underlying optimal control problem as a mixed integer linear program. The benefit of this design is that we can coordinate the actions between each camera while simultaneously respecting its kinematics. In addition, we further improve the quality of our solution by coupling our algorithm with a Kalman filter. Through this integration, we not only add a predictive component to our control, but we use the uncertainty estimates provided by the filter to encourage the system to periodically observe any outliers in the observed area. This combined approach allows us to intelligently observe the entire region of interest in an effective and thorough manner.
Combined Intelligent Control (CIC an Intelligent Decision Making Algorithm
Moteaal Asadi Shirzi
2007-03-01
Full Text Available The focus of this research is to introduce the concept of combined intelligent control (CIC as an effective architecture for decision-making and control of intelligent agents and multi-robot sets. Basically, the CIC is a combination of various architectures and methods from fields such as artificial intelligence, Distributed Artificial Intelligence (DAI, control and biological computing. Although any intelligent architecture may be very effective for some specific applications, it could be less for others. Therefore, CIC combines and arranges them in a way that the strengths of any approach cover the weaknesses of others. In this paper first, we introduce some intelligent architectures from a new aspect. Afterward, we offer the CIC by combining them. CIC has been executed in a multi-agent set. In this set, robots must cooperate to perform some various tasks in a complex and nondeterministic environment with a low sensory feedback and relationship. In order to investigate, improve, and correct the combined intelligent control method, simulation software has been designed which will be presented and considered. To show the ability of the CIC algorithm as a distributed architecture, a central algorithm is designed and compared with the CIC.
Kim, Dong Yun
1997-02-01
In this research, we propose a fuzzy gain scheduler (FGS) with an intelligent learning algorithm for a reactor control. In the proposed algorithm, the gradient descent method is used in order to generate the rule bases of a fuzzy algorithm by learning. These rule bases are obtained by minimizing an objective function, which is called a performance cost function. The objective of the FGS with an intelligent learning algorithm is to generate adequate gains, which minimize the error of system. The proposed algorithm can reduce the time and efforts required for obtaining the fuzzy rules through the intelligent learning function. The evolutionary programming algorithm is modified and adopted as the method in order to find the optimal gains which are used as the initial gains of FGS with learning function. It is applied to reactor control of nuclear power plant (NPP), and the results are compared with those of a conventional PI controller with fixed gains. As a result, it is shown that the proposed algorithm is superior to the conventional PI controller
Optimization Design by Genetic Algorithm Controller for Trajectory Control of a 3-RRR Parallel Robot
Lianchao Sheng
2018-01-01
Full Text Available In order to improve the control precision and robustness of the existing proportion integration differentiation (PID controller of a 3-Revolute–Revolute–Revolute (3-RRR parallel robot, a variable PID parameter controller optimized by a genetic algorithm controller is proposed in this paper. Firstly, the inverse kinematics model of the 3-RRR parallel robot was established according to the vector method, and the motor conversion matrix was deduced. Then, the error square integral was chosen as the fitness function, and the genetic algorithm controller was designed. Finally, the control precision of the new controller was verified through the simulation model of the 3-RRR planar parallel robot—built in SimMechanics—and the robustness of the new controller was verified by adding interference. The results show that compared with the traditional PID controller, the new controller designed in this paper has better control precision and robustness, which provides the basis for practical application.
ticians but also forms the foundation of computer science. Two ... with methods of developing algorithms for solving a variety of problems but ... applications of computers in science and engineer- ... numerical calculus are as important. We will ...
Design issues of the piezo motor for the spacecraft reflector control system
Azin Anton
2018-01-01
Full Text Available Creation of large-size reflectors for spacecrafts is a topical issue for the space industry. The accuracy of the reflecting surface form and the structure weight are the main criteria for the reflector design. The accuracy of the reflecting surface form during a long-term operation is provided by adjustment when using piezoelectric motors in the reflector design. These motors have small weight-size parameters and can reach great torque values. The piezo motor is a distributed mechanical-acoustic oscillation system. Mechanical-acoustic oscillations are generated in the piezo motor by a PZT-stack and transmitted to an oscillator element, and then from the oscillator element to a load action element. At high frequencies, when dimensions of the oscillator are proportionate to the wavelength, the energy is transmitted by means of acoustic waves. In this case, mechanical waves practically are not involved in the energy transmission process. This thesis shows a method for selecting the material of a mechanical-acoustic oscillation system according to the efficiency of the acoustic energy transmission via a piezoelectric layered structure.
Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics
Cviklovič Vladimír
2016-03-01
Full Text Available The issue of navigation methods is being continuously developed globally. The aim of this article is to test the fuzzy control algorithm for track finding in mobile robotics. The concept of an autonomous mobile robot EN20 has been designed to test its behaviour. The odometry navigation method was used. The benefits of fuzzy control are in the evidence of mobile robot’s behaviour. These benefits are obtained when more physical variables on the base of more input variables are controlled at the same time. In our case, there are two input variables - heading angle and distance, and two output variables - the angular velocity of the left and right wheel. The autonomous mobile robot is moving with human logic.
DOOCS environment for FPGA-based cavity control system and control algorithms development
Pucyk, P.; Koprek, W.; Kaleta, P.; Szewinski, J.; Pozniak, K.T.; Czarski, T.; Romaniuk, R.S.
2005-01-01
The paper describes the concept and realization of the DOOCS control software for FPGAbased TESLA cavity controller and simulator (SIMCON). It bases on universal software components, created for laboratory purposes and used in MATLAB based control environment. These modules have been recently adapted to the DOOCS environment to ensure a unified software to hardware communication model. The presented solution can be also used as a general platform for control algorithms development. The proposed interfaces between MATLAB and DOOCS modules allow to check the developed algorithm in the operation environment before implementation in the FPGA. As the examples two systems have been presented. (orig.)
Software-Defined Congestion Control Algorithm for IP Networks
Yao Hu
2017-01-01
Full Text Available The rapid evolution of computer networks, increase in the number of Internet users, and popularity of multimedia applications have exacerbated the congestion control problem. Congestion control is a key factor in ensuring network stability and robustness. When the underlying network and flow information are unknown, the transmission control protocol (TCP must increase or reduce the size of the congestion window to adjust to the changes of traffic in the Internet Protocol (IP network. However, it is possible that a software-defined approach can relieve the network congestion problem more efficiently. This approach has the characteristic of centralized control and can obtain a global topology for unified network management. In this paper, we propose a software-defined congestion control (SDCC algorithm for an IP network. We consider the difference between TCP and the user datagram protocol (UDP and propose a new method to judge node congestion. We initially apply the congestion control mechanism in the congested nodes and then optimize the link utilization to control network congestion.
Observer-Based Robust Control for Spacecraft Rendezvous with Thrust Saturation
Neng Wan
2014-01-01
Full Text Available This paper proposes an observer-based robust guaranteed cost control method for thrust-limited rendezvous in near-circular orbits. Treating the noncircularity of the target orbit as a parametric uncertainty, a linearized motion model derived from the two-body problem is adopted as the controlled plant. Based on this model, a robust guaranteed cost observer-controller is synthesized with a less conservative saturation control law, and sufficient condition for the existence of this observer-based rendezvous controller is derived. Finally, an illustrative example with immeasurable velocity states is presented to demonstrate the advantages and effectiveness of the control scheme.
Advanced illumination control algorithm for medical endoscopy applications
Sousa, Ricardo M.; Wäny, Martin; Santos, Pedro; Morgado-Dias, F.
2015-05-01
CMOS image sensor manufacturer, AWAIBA, is providing the world's smallest digital camera modules to the world market for minimally invasive surgery and one time use endoscopic equipment. Based on the world's smallest digital camera head and the evaluation board provided to it, the aim of this paper is to demonstrate an advanced fast response dynamic control algorithm of the illumination LED source coupled to the camera head, over the LED drivers embedded on the evaluation board. Cost efficient and small size endoscopic camera modules nowadays embed minimal size image sensors capable of not only adjusting gain and exposure time but also LED illumination with adjustable illumination power. The LED illumination power has to be dynamically adjusted while navigating the endoscope over changing illumination conditions of several orders of magnitude within fractions of the second to guarantee a smooth viewing experience. The algorithm is centered on the pixel analysis of selected ROIs enabling it to dynamically adjust the illumination intensity based on the measured pixel saturation level. The control core was developed in VHDL and tested in a laboratory environment over changing light conditions. The obtained results show that it is capable of achieving correction speeds under 1 s while maintaining a static error below 3% relative to the total number of pixels on the image. The result of this work will allow the integration of millimeter sized high brightness LED sources on minimal form factor cameras enabling its use in endoscopic surgical robotic or micro invasive surgery.
Combustion distribution control using the extremum seeking algorithm
Marjanovic, A.; Krstic, M.; Djurovic, Z.; Kvascev, G.; Papic, V.
2014-12-01
Quality regulation of the combustion process inside the furnace is the basis of high demands for increasing robustness, safety and efficiency of thermal power plants. The paper considers the possibility of spatial temperature distribution control inside the boiler, based on the correction of distribution of coal over the mills. Such control system ensures the maintenance of the flame focus away from the walls of the boiler, and thus preserves the equipment and reduces the possibility of ash slugging. At the same time, uniform heat dissipation over mills enhances the energy efficiency of the boiler, while reducing the pollution of the system. A constrained multivariable extremum seeking algorithm is proposed as a tool for combustion process optimization with the main objective of centralizing the flame in the furnace. Simulations are conducted on a model corresponding to the 350MW boiler of the Nikola Tesla Power Plant, in Obrenovac, Serbia.
Combustion distribution control using the extremum seeking algorithm
Marjanovic, A; Djurovic, Z; Kvascev, G; Papic, V; Krstic, M
2014-01-01
Quality regulation of the combustion process inside the furnace is the basis of high demands for increasing robustness, safety and efficiency of thermal power plants. The paper considers the possibility of spatial temperature distribution control inside the boiler, based on the correction of distribution of coal over the mills. Such control system ensures the maintenance of the flame focus away from the walls of the boiler, and thus preserves the equipment and reduces the possibility of ash slugging. At the same time, uniform heat dissipation over mills enhances the energy efficiency of the boiler, while reducing the pollution of the system. A constrained multivariable extremum seeking algorithm is proposed as a tool for combustion process optimization with the main objective of centralizing the flame in the furnace. Simulations are conducted on a model corresponding to the 350MW boiler of the Nikola Tesla Power Plant, in Obrenovac, Serbia
Leahu, G. L.; Li Voti, R.; Larciprete, M. C.; Belardini, A.; Mura, F.; Sibilia, C.; Bertolotti, M.; Fratoddi, I.
2013-01-01
We present a detailed infrared study of the semiconductor-to-metal transition (SMT) in a vanadium dioxide (VO2) film deposited on silicon wafer. The VO2 phase transition is studied in the mid-infrared (MIR) region by analyzing the transmittance and the reflectance measurements, and the calculated emissivity. The temperature behaviour of the emissivity during the SMT put into evidence the phenomenon of the anomalous absorption in VO2 which has been explained by applying the Maxwell Garnett effective medium approximation theory, together with a strong hysteresis phenomenon, both useful to design tunable thermal devices to be applied for the thermal control of spacecraft. We have also applied the photothermal radiometry in order to study the changes in the modulated emissivity induced by laser. Experimental results show how the use of these techniques represent a good tool for a quantitative measurement of the optothermal properties of vanadium dioxide based structures
Application of Fuzzy Algorithm in Optimizing Hierarchical Sliding Mode Control for Pendubot System
Xuan Dung Huynh
2017-12-01
Full Text Available Pendubot is a classical under-actuated SIMO model for control algorithm testing in laboratory of universities. In this paper, authors design a fuzzy-sliding control for this system. The controller is designed from a new idea of application of fuzzy algorithm for optioning control parameters. The response of system on TOP position under fuzzysliding control algorithm is proved to be better than under sliding controller through Matlab/Simulink simulation.
algorithm design technique called 'divide-and-conquer'. One of ... Turtle graphics, September. 1996. 5. ... whole list named 'PO' is a pointer to the first element of the list; ..... Program for computing matrices X and Y and placing the result in C *).
algorithm that it is implicitly understood that we know how to generate the next natural ..... Explicit comparisons are made in line (1) where maximum and minimum is ... It can be shown that the function T(n) = 3/2n -2 is the solution to the above ...
W. H. Kwong
2000-06-01
Full Text Available The development of a new simplified model predictive control algorithm has been proposed in this work. The algorithm is developed within the framework of internal model control, and it is easy to understanding and implement. Simulation results for a continuous fermenter, which show that the proposed control algorithm is robust for moderate variations in plant parameters, are presented. The algorithm shows a good performance for setpoint tracking.
Algorithm for Public Electric Transport Schedule Control for Intelligent Embedded Devices
Alps, Ivars; Potapov, Andrey; Gorobetz, Mikhail; Levchenkov, Anatoly
2010-01-01
In this paper authors present heuristics algorithm for precise schedule fulfilment in city traffic conditions taking in account traffic lights. The algorithm is proposed for programmable controller. PLC is proposed to be installed in electric vehicle to control its motion speed and signals of traffic lights. Algorithm is tested using real controller connected to virtual devices and real functional models of real tram devices. Results of experiments show high precision of public transport schedule fulfilment using proposed algorithm.
The product composition control system at Savannah River: Statistical process control algorithm
Brown, K.G.
1994-01-01
The Defense Waste Processing Facility (DWPF) at the Savannah River Site (SRS) will be used to immobilize the approximately 130 million liters of high-level nuclear waste currently stored at the site in 51 carbon steel tanks. Waste handling operations separate this waste into highly radioactive insoluble sludge and precipitate and less radioactive water soluble salts. In DWPF, precipitate (PHA) is blended with insoluble sludge and ground glass frit to produce melter feed slurry which is continuously fed to the DWPF melter. The melter produces a molten borosilicate glass which is poured into stainless steel canisters for cooling and, ultimately, shipment to and storage in an geologic repository. Described here is the Product Composition Control System (PCCS) process control algorithm. The PCCS is the amalgam of computer hardware and software intended to ensure that the melt will be processable and that the glass wasteform produced will be acceptable. Within PCCS, the Statistical Process Control (SPC) Algorithm is the means which guides control of the DWPF process. The SPC Algorithm is necessary to control the multivariate DWPF process in the face of uncertainties arising from the process, its feeds, sampling, modeling, and measurement systems. This article describes the functions performed by the SPC Algorithm, characterization of DWPF prior to making product, accounting for prediction uncertainty, accounting for measurement uncertainty, monitoring a SME batch, incorporating process information, and advantages of the algorithm. 9 refs., 6 figs
Reactor controller design using genetic algorithm with simulated annealing
Willjuice Iruthyarajan, M.
2012-01-01
Many reactor control design work, specifically the problem of synthesis and optimization of reactor networks involving the classical reaction schemes was studied, considering a superstructure formed by a CSTR and a PFR and their possible arrangements. A genetic algorithm was proposed, together with a systematic procedure. Two case studies were solved with the proposed systematic. Both of them present similar results than the published in the literature. The first case studied was the Trambouze reaction scheme. Although selectivity values are smaller then the values published in the referred papers, the reactors system combined volume is always minor them the other ones. The second case studied was the Van de Vusse reaction scheme. In this case, the obtained value for the total volume is always minor then the considered papers. One can conclude that when compared with the other works presented in the literature results are compatible and very interesting. The developed algorithms can be used as a good alternative for reactor networks design and optimization problem
Energy Optimal Control Strategy of PHEV Based on PMP Algorithm
Tiezhou Wu
2017-01-01
Full Text Available Under the global voice of “energy saving” and the current boom in the development of energy storage technology at home and abroad, energy optimal control of the whole hybrid electric vehicle power system, as one of the core technologies of electric vehicles, is bound to become a hot target of “clean energy” vehicle development and research. This paper considers the constraints to the performance of energy storage system in Parallel Hybrid Electric Vehicle (PHEV, from which lithium-ion battery frequently charges/discharges, PHEV largely consumes energy of fuel, and their are difficulty in energy recovery and other issues in a single cycle; the research uses lithium-ion battery combined with super-capacitor (SC, which is hybrid energy storage system (Li-SC HESS, working together with internal combustion engine (ICE to drive PHEV. Combined with PSO-PI controller and Li-SC HESS internal power limited management approach, the research proposes the PHEV energy optimal control strategy. It is based on revised Pontryagin’s minimum principle (PMP algorithm, which establishes the PHEV vehicle simulation model through ADVISOR software and verifies the effectiveness and feasibility. Finally, the results show that the energy optimization control strategy can improve the instantaneity of tracking PHEV minimum fuel consumption track, implement energy saving, and prolong the life of lithium-ion batteries and thereby can improve hybrid energy storage system performance.
Optimal trajectories of aircraft and spacecraft
Miele, A.
1990-01-01
Work done on algorithms for the numerical solutions of optimal control problems and their application to the computation of optimal flight trajectories of aircraft and spacecraft is summarized. General considerations on calculus of variations, optimal control, numerical algorithms, and applications of these algorithms to real-world problems are presented. The sequential gradient-restoration algorithm (SGRA) is examined for the numerical solution of optimal control problems of the Bolza type. Both the primal formulation and the dual formulation are discussed. Aircraft trajectories, in particular, the application of the dual sequential gradient-restoration algorithm (DSGRA) to the determination of optimal flight trajectories in the presence of windshear are described. Both take-off trajectories and abort landing trajectories are discussed. Take-off trajectories are optimized by minimizing the peak deviation of the absolute path inclination from a reference value. Abort landing trajectories are optimized by minimizing the peak drop of altitude from a reference value. Abort landing trajectories are optimized by minimizing the peak drop of altitude from a reference value. The survival capability of an aircraft in a severe windshear is discussed, and the optimal trajectories are found to be superior to both constant pitch trajectories and maximum angle of attack trajectories. Spacecraft trajectories, in particular, the application of the primal sequential gradient-restoration algorithm (PSGRA) to the determination of optimal flight trajectories for aeroassisted orbital transfer are examined. Both the coplanar case and the noncoplanar case are discussed within the frame of three problems: minimization of the total characteristic velocity; minimization of the time integral of the square of the path inclination; and minimization of the peak heating rate. The solution of the second problem is called nearly-grazing solution, and its merits are pointed out as a useful
Kim, Dong Yun; Seong, Poong Hyun
1996-01-01
In this study, we proposed a fuzzy gain scheduler with intelligent learning algorithm for a reactor control. In the proposed algorithm, we used the gradient descent method to learn the rule bases of a fuzzy algorithm. These rule bases are learned toward minimizing an objective function, which is called a performance cost function. The objective of fuzzy gain scheduler with intelligent learning algorithm is the generation of adequate gains, which minimize the error of system. The condition of every plant is generally changed as time gose. That is, the initial gains obtained through the analysis of system are no longer suitable for the changed plant. And we need to set new gains, which minimize the error stemmed from changing the condition of a plant. In this paper, we applied this strategy for reactor control of nuclear power plant (NPP), and the results were compared with those of a simple PI controller, which has fixed gains. As a result, it was shown that the proposed algorithm was superior to the simple PI controller
Disturbance observer based model predictive control for accurate atmospheric entry of spacecraft
Wu, Chao; Yang, Jun; Li, Shihua; Li, Qi; Guo, Lei
2018-05-01
Facing the complex aerodynamic environment of Mars atmosphere, a composite atmospheric entry trajectory tracking strategy is investigated in this paper. External disturbances, initial states uncertainties and aerodynamic parameters uncertainties are the main problems. The composite strategy is designed to solve these problems and improve the accuracy of Mars atmospheric entry. This strategy includes a model predictive control for optimized trajectory tracking performance, as well as a disturbance observer based feedforward compensation for external disturbances and uncertainties attenuation. 500-run Monte Carlo simulations show that the proposed composite control scheme achieves more precise Mars atmospheric entry (3.8 km parachute deployment point distribution error) than the baseline control scheme (8.4 km) and integral control scheme (5.8 km).
Hybrid Heat Pipes for High Heat Flux Spacecraft Thermal Control, Phase I
National Aeronautics and Space Administration — Grooved aluminum/ammonia Constant Conductance Heat Pipes (CCHPs) are the standard for thermal control in zero-gravity. Unfortunately, they are limited in terms of...
will become clear in the next article when we discuss a simple logo like programming language. ... Rod B may be used as an auxiliary store. The problem is to find an algorithm which performs this task. ... No disks are moved from A to Busing C as auxiliary rod. • move _disk (A, C);. (No + l)th disk is moved from A to C directly ...
Bandyopadhyay, Saptarshi
guidance algorithms using results from numerical simulations and closed-loop hardware experiments on multiple quadrotors. In the second part of this dissertation, we present two novel discrete-time algorithms for distributed estimation, which track a single target using a network of heterogeneous sensing agents. The Distributed Bayesian Filtering (DBF) algorithm, the sensing agents combine their normalized likelihood functions using the logarithmic opinion pool and the discrete-time dynamic average consensus algorithm. Each agent's estimated likelihood function converges to an error ball centered on the joint likelihood function of the centralized multi-sensor Bayesian filtering algorithm. Using a new proof technique, the convergence, stability, and robustness properties of the DBF algorithm are rigorously characterized. The explicit bounds on the time step of the robust DBF algorithm are shown to depend on the time-scale of the target dynamics. Furthermore, the DBF algorithm for linear-Gaussian models can be cast into a modified form of the Kalman information filter. In the Bayesian Consensus Filtering (BCF) algorithm, the agents combine their estimated posterior pdfs multiple times within each time step using the logarithmic opinion pool scheme. Thus, each agent's consensual pdf minimizes the sum of Kullback-Leibler divergences with the local posterior pdfs. The performance and robust properties of these algorithms are validated using numerical simulations. In the third part of this dissertation, we present an attitude control strategy and a new nonlinear tracking controller for a spacecraft carrying a large object, such as an asteroid or a boulder. If the captured object is larger or comparable in size to the spacecraft and has significant modeling uncertainties, conventional nonlinear control laws that use exact feed-forward cancellation are not suitable because they exhibit a large resultant disturbance torque. The proposed nonlinear tracking control law guarantees
Achim IONITA
2016-03-01
Full Text Available The orbital docking represents a problem of great importance in aerospace engineering. The paper aims to perform an analysis of docking maneuvers between a chaser vehicle and a target vehicle in permanent LEO (low earth orbit. The work begins with a study of the attitude dynamics modeling intended to define the strategy that facilitates the chaser movement toward a docking part of the target. An LQR (linear quadratic regulator approach presents an optimal control design that provides linearized closed-loop error dynamics for tracking a desired quaternion. The control law formulation is combined with the control architecture based on SDRE (State Dependent Riccati equation technique for rotational maneuvers, including the Earth oblateness perturbation. The chaser body-fixed frame must coincide with the target body-fixed frame at the docking moment. Then the implementation of the control architecture based on LQR technique using the computational tool MATLAB is carried out. In simulation of the docking strategy V-R bar operations are analyzed and the minimum accelerations needs the control of chaser vehicle. The simulation analysis of those maneuvers considered for a chaser vehicle and a target vehicle in LEO orbit is validated in a case study.
Wavelet Adaptive Algorithm and Its Application to MRE Noise Control System
Zhang Yulin
2015-01-01
Full Text Available To address the limitation of conventional adaptive algorithm used for active noise control (ANC system, this paper proposed and studied two adaptive algorithms based on Wavelet. The twos are applied to a noise control system including magnetorheological elastomers (MRE, which is a smart viscoelastic material characterized by a complex modulus dependent on vibration frequency and controllable by external magnetic fields. Simulation results reveal that the Decomposition LMS algorithm (D-LMS and Decomposition and Reconstruction LMS algorithm (DR-LMS based on Wavelet can significantly improve the noise reduction performance of MRE control system compared with traditional LMS algorithm.
The performance of thermal control coatings on LDEF and implications to future spacecraft
Wilkes, Donald R.; Miller, Edgar R.; Mell, Richard J.; Lemaster, Paul S.; Zwiener, James M.
1993-01-01
The stability of thermal control coatings over the lifetime of a satellite or space platform is crucial to the success of the mission. With the increasing size, complexity, and duration of future missions, the stability of these materials becomes even more important. The Long Duration Exposure Facility (LDEF) offered an excellent testbed to study the stability and interaction of thermal control coatings in the low-Earth orbit (LEO) space environment. Several experiments on LDEF exposed thermal control coatings to the space environment. This paper provides an overview of the different materials flown and their stability during the extended LDEF mission. The exposure conditions, exposure environment, and measurements of materials properties (both in-space and postflight) are described. The relevance of the results and the implications to the design and operation of future space vehicles are also discussed.
Gossamer-1: Mission concept and technology for a controlled deployment of gossamer spacecraft
Seefeldt, Patric; Spietz, Peter; Sproewitz, Tom; Grundmann, Jan Thimo; Hillebrandt, Martin; Hobbie, Catherin; Ruffer, Michael; Straubel, Marco; Tóth, Norbert; Zander, Martin
2017-01-01
Gossamer structures for innovative space applications, such as solar sails, require technology that allows their controlled and thereby safe deployment. Before employing such technology for a dedicated science mission, it is desirable, if not necessary, to demonstrate its reliability with a Technology Readiness Level (TRL) of six or higher. The aim of the work presented here is to provide reliable technology that enables the controlled deployment and verification of its functionality with various laboratory tests, thereby qualifying the hardware for a first demonstration in low Earth orbit (LEO). The development was made in the Gossamer-1 project of the German Aerospace Center (DLR). This paper provides an overview of the Gossamer-1 mission and hardware development. The system is designed based on the requirements of a technology demonstration mission. The design rests on a crossed boom configuration with triangular sail segments. Employing engineering models, all aspects of the deployment were tested under ambient environment. Several components were also subjected to environmental qualification testing. An innovative stowing and deployment strategy for a controlled deployment, as well as the designs of the bus system, mechanisms and electronics are described. The tests conducted provide insights into the deployment process and allow a mechanical characterization of that deployment process, in particular the measurement of the deployment forces. Deployment on system level could be successfully demonstrated to be robust and controllable. The deployment technology is on TRL four approaching level five, with a qualification model for environmental testing currently being built.
LQG/LTR Optimal Attitude Control of Small Flexible Spacecraft Using Free-Free Boundary Conditions
2006-08-03
trampoline . When a person jumps onto a trampoline , the springs are compressed. When the springs return to their normal state, the restoring force sends...0.0164 103.25 in Table 4.4. The heading for the table lists appendage length, peak control effort, stability robustness, frequency of the first bending
Murphy, Elizabeth Drummond
As advances in technology are applied in complex, semi-automated domains, human controllers are distanced from the controlled process. This physical and psychological distance may both facilitate and degrade human performance. To investigate cognitive issues in spacecraft ground-control operations, the present experimental research was undertaken. The primary issue concerned the ability of operations analysts who do not monitor operations to make timely, accurate decisions when autonomous software calls for human help. Another key issue involved the potential effects of spatial-visualization ability (SVA) in environments that present data in graphical formats. Hypotheses were derived largely from previous findings and predictions in the literature. Undergraduate psychology students were assigned at random to a monitoring condition or an on-call condition in a scaled environment. The experimental task required subjects to decide on the veracity of a problem diagnosis delivered by a software process on-board a simulated spacecraft. To support decision-making, tabular and graphical data displays presented information on system status. A level of software confidence in the problem diagnosis was displayed, and subjects reported their own level of confidence in their decisions. Contrary to expectations, the performance of on-call subjects did not differ significantly from that of continuous monitors. Analysis yielded a significant interaction of sex and condition: Females in the on-call condition had the lowest mean accuracy. Results included a preference for bar charts over line graphs and faster performance with tables than with line graphs. A significant correlation was found between subjective confidence and decision accuracy. SVA was found to be predictive of accuracy but not speed; and SVA was found to be a stronger predictor of performance for males than for females. Low-SVA subjects reported that they relied more on software confidence than did medium- or high
Sellmaier, Florian; Schmidhuber, Michael
2015-01-01
The book describes the basic concepts of spaceflight operations, for both, human and unmanned missions. The basic subsystems of a space vehicle are explained in dedicated chapters, the relationship of spacecraft design and the very unique space environment are laid out. Flight dynamics are taught as well as ground segment requirements. Mission operations are divided into preparation including management aspects, execution and planning. Deep space missions and space robotic operations are included as special cases. The book is based on a course held at the German Space Operation Center (GSOC).
Gang Qin
2015-01-01
Full Text Available The acceleration performance of EV, which affects a lot of performances of EV such as start-up, overtaking, driving safety, and ride comfort, has become increasingly popular in recent researches. An improved variable gain PID control algorithm to improve the acceleration performance is proposed in this paper. The results of simulation with Matlab/Simulink demonstrate the effectiveness of the proposed algorithm through the control performance of motor velocity, motor torque, and three-phase current of motor. Moreover, it is investigated that the proposed controller is valid by comparison with the other PID controllers. Furthermore, the AC induction motor experiment set is constructed to verify the effect of proposed controller.
Perez C, B
2003-07-01
In this thesis work there are presented: a) The characteristics and main components used in an electronic system based on a Dsp guided to control applications of processes, b) The description of an algorithm of diffuse control whose objective is the regulation of neutron power in a model of the punctual kinetics of a nuclear research reactor type TRIGA, and c) The installation in language assembler and execution in real time of the control algorithm in the system based on a Dsp. With regard to the installation and execution of the algorithm, the reaches of the project have been delimited to the following: a) Readiness of the entrance values to the controller in specific registrations of the system Dsp, b) Conversion of the entrances to the numerical formats with those that one obtains the best acting in the control algorithm, c) Execution of the algorithm until the obtaining of the value of the controller's exit, and d) Placement of the result in specific registrations of the Dsp for their later reading for an external parallel interface. It is necessary to mention that the simulation of the punctual kinetics of a reactor type TRIGA in the Pc and its integration with the control system based on the one Dsp is had contemplated as continuation of this work and that one of those will constitute main activities in my project of master thesis. A brief description of the topics presented in this thesis is given next. In the chapter one it is presented a general description of the diffuse logic and some of their applications in the industry. The main characteristics of a Dsp are also presented that they make it different from a micro controller or a microprocessor of general purpose. In the chapter 2 details of the internal architecture of the Dsp TMS320CS0 of Texas Instruments that are not explained with detail in the manual of user of the same one. This chapter has as objective to understand the internal hardware of the Dsp that is used for to carry out the program in
Perez C, B
2003-07-01
In this thesis work there are presented: a) The characteristics and main components used in an electronic system based on a Dsp guided to control applications of processes, b) The description of an algorithm of diffuse control whose objective is the regulation of neutron power in a model of the punctual kinetics of a nuclear research reactor type TRIGA, and c) The installation in language assembler and execution in real time of the control algorithm in the system based on a Dsp. With regard to the installation and execution of the algorithm, the reaches of the project have been delimited to the following: a) Readiness of the entrance values to the controller in specific registrations of the system Dsp, b) Conversion of the entrances to the numerical formats with those that one obtains the best acting in the control algorithm, c) Execution of the algorithm until the obtaining of the value of the controller's exit, and d) Placement of the result in specific registrations of the Dsp for their later reading for an external parallel interface. It is necessary to mention that the simulation of the punctual kinetics of a reactor type TRIGA in the Pc and its integration with the control system based on the one Dsp is had contemplated as continuation of this work and that one of those will constitute main activities in my project of master thesis. A brief description of the topics presented in this thesis is given next. In the chapter one it is presented a general description of the diffuse logic and some of their applications in the industry. The main characteristics of a Dsp are also presented that they make it different from a micro controller or a microprocessor of general purpose. In the chapter 2 details of the internal architecture of the Dsp TMS320CS0 of Texas Instruments that are not explained with detail in the manual of user of the same one. This chapter has as objective to understand the internal hardware of the Dsp that is used for to carry out the program
Debbarma, Sanjoy; Saikia, Lalit Chandra; Sinha, Nidul
2014-03-01
Present work focused on automatic generation control (AGC) of a three unequal area thermal systems considering reheat turbines and appropriate generation rate constraints (GRC). A fractional order (FO) controller named as I(λ)D(µ) controller based on crone approximation is proposed for the first time as an appropriate technique to solve the multi-area AGC problem in power systems. A recently developed metaheuristic algorithm known as firefly algorithm (FA) is used for the simultaneous optimization of the gains and other parameters such as order of integrator (λ) and differentiator (μ) of I(λ)D(µ) controller and governor speed regulation parameters (R). The dynamic responses corresponding to optimized I(λ)D(µ) controller gains, λ, μ, and R are compared with that of classical integer order (IO) controllers such as I, PI and PID controllers. Simulation results show that the proposed I(λ)D(µ) controller provides more improved dynamic responses and outperforms the IO based classical controllers. Further, sensitivity analysis confirms the robustness of the so optimized I(λ)D(µ) controller to wide changes in system loading conditions and size and position of SLP. Proposed controller is also found to have performed well as compared to IO based controllers when SLP takes place simultaneously in any two areas or all the areas. Robustness of the proposed I(λ)D(µ) controller is also tested against system parameter variations. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Conrad, Finn; Zhou, Jianjun; Gabacik, Andrzej
1998-01-01
Invited paper presents a new control algorithm based on feed-forward geometrical compensation strategy combined with adaptive feedback control.......Invited paper presents a new control algorithm based on feed-forward geometrical compensation strategy combined with adaptive feedback control....
Stewart, D. A.; Goldstein, H. E.; Leiser, D. B. (Inventor)
1983-01-01
A high temperature stable and solar radiation stable thermal control coating is described which is useful either as such, applied directly to a member to be protected, or applied as a coating on a re-usable surface insulation (RSI). It has a base coat layer and an overlay glass layer. The base coat layer has a high emittance, and the overlay layer is formed from discrete, but sintered together glass particles to give the overlay layer a high scattering coefficient. The resulting two-layer space and thermal control coating has an absorptivity-to-emissivity ratio of less than or equal to 0.4 at room temperature, with an emittance of 0.8 at 1200 F. It is capable of exposure to either solar radiation or temperatures as high as 2000 F without significant degradation. When used as a coating on a silica substrate to give an RSI structure, the coatings of this invention show significantly less reduction in emittance after long term convective heating and less residual strain than prior art coatings for RSI structures.
Qiang, Jiang; Meng-wei, Liao; Ming-jie, Luo
2018-03-01
Abstract.The control performance of Permanent Magnet Synchronous Motor will be affected by the fluctuation or changes of mechanical parameters when PMSM is applied as driving motor in actual electric vehicle,and external disturbance would influence control robustness.To improve control dynamic quality and robustness of PMSM speed control system, a new second order integral sliding mode control algorithm is introduced into PMSM vector control.The simulation results show that, compared with the traditional PID control,the modified control scheme optimized has better control precision and dynamic response ability and perform better with a stronger robustness facing external disturbance,it can effectively solve the traditional sliding mode variable structure control chattering problems as well.
PSO-RBF Neural Network PID Control Algorithm of Electric Gas Pressure Regulator
Yuanchang Zhong
2014-01-01
Full Text Available The current electric gas pressure regulator often adopts the conventional PID control algorithm to take drive control of the core part (micromotor of electric gas pressure regulator. In order to further improve tracking performance and to shorten response time, this paper presents an improved PID intelligent control algorithm which applies to the electric gas pressure regulator. The algorithm uses the improved RBF neural network based on PSO algorithm to make online adjustment on PID parameters. Theoretical analysis and simulation result show that the algorithm shortens the step response time and improves tracking performance.
Pole placement algorithm for control of civil structures subjected to earthquake excitation
Nikos Pnevmatikos
2017-04-01
Full Text Available In this paper the control algorithm for controlled civil structures subjected to earthquake excitation is thoroughly investigated. The objective of this work is the control of structures by means of the pole placement algorithm, in order to improve their response against earthquake actions. Successful application of the algorithm requires judicious placement of the closed-loop eigenvalues from the part of the designer. The pole placement algorithm was widely applied to control mechanical systems. In this paper, a modification in the mathematical background of the algorithm in order to be suitable for civil fixed structures is primarily presented. The proposed approach is demonstrated by numerical simulations for the control of both single and multi-degree of freedom systems subjected to seismic actions. Numerical results have shown that the control algorithm is efficient in reducing the response of building structures, with small amount of required control forces.
Internet Technology on Spacecraft
Rash, James; Parise, Ron; Hogie, Keith; Criscuolo, Ed; Langston, Jim; Powers, Edward I. (Technical Monitor)
2000-01-01
approaches. The cost to implement is much less than current approaches due to the availability of highly reliable and standard Internet tools. Use of standard Internet applications onboard reduces the risk of obsolescence inherent in custom protocols due to extremely wide use across all domains. These basic building blocks provide the framework for building onboard software to support direct user communication with payloads including payload control. Other benefits are payload to payload communication from dissimilar spacecraft, constellations of spacecraft, and reconfigurability on orbit. This work is funded through contract with the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC).
Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators
Zhou, Zhiqiang
2012-01-01
A paper describes attitude-control algorithms using the combination of magnetic actuators with reaction wheel assemblies (RWAs) or other types of actuators such as thrusters. The combination of magnetic actuators with one or two RWAs aligned with different body axis expands the two-dimensional control torque to three-dimensional. The algorithms can guarantee the spacecraft attitude and rates to track the commanded attitude precisely. A design example is presented for nadir-pointing, pitch, and yaw maneuvers. The results show that precise attitude tracking can be reached and the attitude- control accuracy is comparable with RWA-based attitude control. When there are only one or two workable RWAs due to RWA failures, the attitude-control system can switch to the control algorithms for the combined magnetic actuators with the RWAs without going to the safe mode, and the control accuracy can be maintained. The attitude-control algorithms of the combined actuators are derived, which can guarantee the spacecraft attitude and rates to track the commanded values precisely. Results show that precise attitude tracking can be reached, and the attitude-control accuracy is comparable with 3-axis wheel control.
A Compatible Control Algorithm for Greenhouse Environment Control Based on MOCC Strategy
Bingkun Zhu
2011-03-01
Full Text Available Conventional methods used for solving greenhouse environment multi-objective conflict control problems lay excessive emphasis on control performance and have inadequate consideration for both energy consumption and special requirements for plant growth. The resulting solution will cause higher energy cost. However, during the long period of work and practice, we find that it may be more reasonable to adopt interval or region control objectives instead of point control objectives. In this paper, we propose a modified compatible control algorithm, and employ Multi-Objective Compatible Control (MOCC strategy and an extant greenhouse model to achieve greenhouse climate control based on feedback control architecture. A series of simulation experiments through various comparative studies are presented to validate the feasibility of the proposed algorithm. The results are encouraging and suggest the energy-saving application to real-world engineering problems in greenhouse production. It may be valuable and helpful to formulate environmental control strategies, and to achieve high control precision and low energy cost for real-world engineering application in greenhouse production. Moreover, the proposed approach has also potential to be useful for other practical control optimization problems with the features like the greenhouse environment control system.
A compatible control algorithm for greenhouse environment control based on MOCC strategy.
Hu, Haigen; Xu, Lihong; Zhu, Bingkun; Wei, Ruihua
2011-01-01
Conventional methods used for solving greenhouse environment multi-objective conflict control problems lay excessive emphasis on control performance and have inadequate consideration for both energy consumption and special requirements for plant growth. The resulting solution will cause higher energy cost. However, during the long period of work and practice, we find that it may be more reasonable to adopt interval or region control objectives instead of point control objectives. In this paper, we propose a modified compatible control algorithm, and employ Multi-Objective Compatible Control (MOCC) strategy and an extant greenhouse model to achieve greenhouse climate control based on feedback control architecture. A series of simulation experiments through various comparative studies are presented to validate the feasibility of the proposed algorithm. The results are encouraging and suggest the energy-saving application to real-world engineering problems in greenhouse production. It may be valuable and helpful to formulate environmental control strategies, and to achieve high control precision and low energy cost for real-world engineering application in greenhouse production. Moreover, the proposed approach has also potential to be useful for other practical control optimization problems with the features like the greenhouse environment control system.
L. V. Savkin
2015-01-01
Full Text Available One of the problems in implementation of the multipurpose complete systems based on the reconfigurable computing fields (RCF is the problem of optimum redistribution of logicalarithmetic resources in growing scope of functional tasks. Irrespective of complexity, all of them are transformed into an orgraph, which functional and topological structure is appropriately imposed on the RCF based, as a rule, on the field programmable gate array (FPGA.Due to limitation of the hardware configurations and functions realized by means of the switched logical blocks (SLB, the abovementioned problem becomes even more critical when there is a need, within the strictly allocated RCF fragment, to realize even more complex challenge in comparison with the problem which was solved during the previous computing step. In such cases it is possible to speak about graphs of big dimensions with respect to allocated RCF fragment.The article considers this problem through development of diagnostic algorithms to implement diagnostics and control of an onboard control complex of the spacecraft using RCF. It gives examples of big graphs arising with respect to allocated RCF fragment when forming the hardware levels of a diagnostic model, which, in this case, is any hardware-based algorithm of diagnostics in RCF.The article reviews examples of arising big graphs when forming the complicated diagnostic models due to drastic difference in formation of hardware levels on closely located RCF fragments. It also pays attention to big graphs emerging when the multichannel diagnostic models are formed.Three main ways to solve the problem of big graphs with respect to allocated RCF fragment are given. These are: splitting the graph into fragments, use of pop-up windows with relocating and memorizing intermediate values of functions of high hardware levels of diagnostic models, and deep adaptive update of diagnostic model.It is shown that the last of three ways is the most efficient
Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators
Zhou, Zhiqiang
2010-01-01
The accuracy of spacecraft attitude control using magnetic actuators only is low and on the order of 0.4-5 degrees. The key reason is that the magnetic torque is two-dimensional and it is only in the plane perpendicular to the magnetic field vector. In this paper novel attitude control algorithms using the combination of magnetic actuators with Reaction Wheel Assembles (RWAs) or other types of actuators, such as thrusters, are presented. The combination of magnetic actuators with one or two RWAs aligned with different body axis expands the two-dimensional control torque to three-dimensional. The algorithms can guarantee the spacecraft attitude and rates to track the commanded attitude precisely. A design example is presented for Nadir pointing, pitch and yaw maneuvers. The results show that precise attitude tracking can be reached and the attitude control accuracy is comparable with RWAs based attitude control. The algorithms are also useful for the RWAs based attitude control. When there are only one or two workable RWAs due to RWA failures, the attitude control system can switch to the control algorithms for the combined magnetic actuators with the RWAs without going to the safe mode and the control accuracy can be maintained.
Atwell, William; Koontz, Steve; Normand, Eugene
2012-01-01
Three twentieth century technological developments, 1) high altitude commercial and military aircraft; 2) manned and unmanned spacecraft; and 3) increasingly complex and sensitive solid state micro-electronics systems, have driven an ongoing evolution of basic cosmic ray science into a set of practical engineering tools needed to design, test, and verify the safety and reliability of modern complex technological systems. The effects of primary cosmic ray particles and secondary particle showers produced by nuclear reactions with the atmosphere, can determine the design and verification processes (as well as the total dollar cost) for manned and unmanned spacecraft avionics systems. Similar considerations apply to commercial and military aircraft operating at high latitudes and altitudes near the atmospheric Pfotzer maximum. Even ground based computational and controls systems can be negatively affected by secondary particle showers at the Earth s surface, especially if the net target area of the sensitive electronic system components is large. Finally, accumulation of both primary cosmic ray and secondary cosmic ray induced particle shower radiation dose is an important health and safety consideration for commercial or military air crews operating at high altitude/latitude and is also one of the most important factors presently limiting manned space flight operations beyond low-Earth orbit (LEO). In this paper we review the discovery of cosmic ray effects on the performance and reliability of microelectronic systems as well as human health and the development of the engineering and health science tools used to evaluate and mitigate cosmic ray effects in ground-based atmospheric flight, and space flight environments. Ground test methods applied to microelectronic components and systems are used in combinations with radiation transport and reaction codes to predict the performance of microelectronic systems in their operating environments. Similar radiation transport
Ghasemi, S.; Khorasani, K.
2015-10-01
In this paper, the problem of fault detection and isolation (FDI) of the attitude control subsystem (ACS) of spacecraft formation flying systems is considered. For developing the FDI schemes, an extended Kalman filter (EKF) is utilised which belongs to a class of nonlinear state estimation methods. Three architectures, namely centralised, decentralised, and semi-decentralised, are considered and the corresponding FDI strategies are designed and constructed. Appropriate residual generation techniques and threshold selection criteria are proposed for these architectures. The capabilities of the proposed architectures for accomplishing the FDI tasks are studied through extensive numerical simulations for a team of four satellites in formation flight. Using a confusion matrix evaluation criterion, it is shown that the centralised architecture can achieve the most reliable results relative to the semi-decentralised and decentralised architectures at the expense of availability of a centralised processing module that requires the entire team information set. On the other hand, the semi-decentralised performance is close to the centralised scheme without relying on the availability of the entire team information set. Furthermore, the results confirm that the FDI results in formations with angular velocity measurement sensors achieve higher level of accuracy, true faulty, and precision, along with lower level of false healthy misclassification as compared to the formations that utilise attitude measurement sensors.
Woonki Na
2017-03-01
Full Text Available This paper presents an improved maximum power point tracking (MPPT algorithm using a fuzzy logic controller (FLC in order to extract potential maximum power from photovoltaic cells. The objectives of the proposed algorithm are to improve the tracking speed, and to simultaneously solve the inherent drawbacks such as slow tracking in the conventional perturb and observe (P and O algorithm. The performances of the conventional P and O algorithm and the proposed algorithm are compared by using MATLAB/Simulink in terms of the tracking speed and steady-state oscillations. Additionally, both algorithms were experimentally validated through a digital signal processor (DSP-based controlled-boost DC-DC converter. The experimental results show that the proposed algorithm performs with a shorter tracking time, smaller output power oscillation, and higher efficiency, compared with the conventional P and O algorithm.
Implementation of Real-Time Feedback Flow Control Algorithms on a Canonical Testbed
Tian, Ye; Song, Qi; Cattafesta, Louis
2005-01-01
This report summarizes the activities on "Implementation of Real-Time Feedback Flow Control Algorithms on a Canonical Testbed." The work summarized consists primarily of two parts. The first part summarizes our previous work and the extensions to adaptive ID and control algorithms. The second part concentrates on the validation of adaptive algorithms by applying them to a vibration beam test bed. Extensions to flow control problems are discussed.
Fuzzy algorithm for an automatic reactor power control in a PWR
Hah, Yung Joon; Song, In Ho; Yu, Sung Sik; Choi, Jung In; Lee, Byong Whi
1994-01-01
A fuzzy algorithm is presented for automatic reactor power control in a pressurized water reactor. Automatic power shape control is complicated by the use of control rods because it is highly coupled with reactivity compensation. Thus, manual shape controls are usually employed even for the limited capability for the load - follow operation including frequency control. In an attempt to achieve automatic power shape control without any design modification of the core, a fuzzy power control algorithm is proposed. For the fuzzy control, the rule base is formulated based on a multi - input multi - output system. The minimum operation rule and the center of area method are implemented for the development of the fuzzy algorithm. The fuzzy power control algorithm has been applied to the Yonggwang Nuclear Unit 3. The simulation results show that the fuzzy control can be adapted as a practical control strategy for automatic reactor power control of the pressurized water reactor during the load - follow operation
Tran, Huu-Khoa; Chiou, Juing -Shian; Peng, Shou-Tao
2016-01-01
In this paper, the feasibility of a Genetic Algorithm Optimization (GAO) education software based Fuzzy Logic Controller (GAO-FLC) for simulating the flight motion control of Unmanned Aerial Vehicles (UAVs) is designed. The generated flight trajectories integrate the optimized Scaling Factors (SF) fuzzy controller gains by using GAO algorithm. The…
Classon, Johan; Andersson, Viktor
2016-01-01
This thesis describes the implementation and evaluation of a genetic algorithm (GA) for procedurally generating levels with controllable difficulty for a motion-based 2D platform game. Manually creating content can be time-consuming, and it may be desirable to automate this process with an algorithm, using Procedural Content Generation (PCG). An algorithm was implemented and then refined with an iterative method by conducting user tests. The resulting algorithm is considered a success and sho...
Ashutosh K. AGARWAL
2011-10-01
Full Text Available Genetic algorithms are robust search techniques based on the principles of evolution. A genetic algorithm maintains a population of encoded solutions and guides the population towards the optimum solution. This important property of genetic algorithm is used in this paper to stabilize the Inverted pendulum system. This paper highlights the application and stability of inverted pendulum using PID controller with fuzzy logic genetic algorithm supervisor . There are a large number of well established search techniques in use within the information technology industry. We propose a method to control inverted pendulum steady state error and overshoot using genetic algorithm technique.
Newton algorithm for Hamiltonian characterization in quantum control
Ndong, M; Sugny, D; Salomon, J
2014-01-01
We propose a Newton algorithm to characterize the Hamiltonian of a quantum system interacting with a given laser field. The algorithm is based on the assumption that the evolution operator of the system is perfectly known at a fixed time. The computational scheme uses the Crank–Nicholson approximation to explicitly determine the derivatives of the propagator with respect to the Hamiltonians of the system. In order to globalize this algorithm, we use a continuation method that improves its convergence properties. This technique is applied to a two-level quantum system and to a molecular one with a double-well potential. The numerical tests show that accurate estimates of the unknown parameters are obtained in some cases. We discuss the numerical limits of the algorithm in terms of the basin of convergence and the non-uniqueness of the solution. (paper)
Power control algorithms for mobile ad hoc networks
Nuraj L. Pradhan
2011-07-01
We will also focus on an adaptive distributed power management (DISPOW algorithm as an example of the multi-parameter optimization approach which manages the transmit power of nodes in a wireless ad hoc network to preserve network connectivity and cooperatively reduce interference. We will show that the algorithm in a distributed manner builds a unique stable network topology tailored to its surrounding node density and propagation environment over random topologies in a dynamic mobile wireless channel.
Optimal Control of Complex Systems Based on Improved Dual Heuristic Dynamic Programming Algorithm
Hui Li
2017-01-01
Full Text Available When applied to solving the data modeling and optimal control problems of complex systems, the dual heuristic dynamic programming (DHP technique, which is based on the BP neural network algorithm (BP-DHP, has difficulty in prediction accuracy, slow convergence speed, poor stability, and so forth. In this paper, a dual DHP technique based on Extreme Learning Machine (ELM algorithm (ELM-DHP was proposed. Through constructing three kinds of network structures, the paper gives the detailed realization process of the DHP technique in the ELM. The controller designed upon the ELM-DHP algorithm controlled a molecular distillation system with complex features, such as multivariability, strong coupling, and nonlinearity. Finally, the effectiveness of the algorithm is verified by the simulation that compares DHP and HDP algorithms based on ELM and BP neural network. The algorithm can also be applied to solve the data modeling and optimal control problems of similar complex systems.
Joung, JinWook; Chung, Lan; Smyth, Andrew W
2010-01-01
The active interaction control (AIC) system consisting of a primary structure, an auxiliary structure and an interaction element was proposed to protect the primary structure against earthquakes and winds. The objective of the AIC system in reducing the responses of the primary structure is fulfilled by activating or deactivating the switching between the engagement and the disengagement of the primary and auxiliary structures through the interaction element. The status of the interaction element is controlled by switching control algorithms. The previously developed switching control algorithms require an excessive amount of switching, which is inefficient. In this paper, the excessive amount of switching is restricted by imposing an appropriately designed switching boundary region, where switching is prohibited, on pre-designed engagement–disengagement conditions. Two different approaches are used in designing the newly proposed AID-off and AID-off 2 algorithms. The AID-off 2 algorithm is designed to affect deactivated switching regions explicitly, unlike the AID-off algorithm, which follows the same procedure of designing the engagement–disengagement conditions of the previously developed algorithms, by using the current status of the AIC system. Both algorithms are shown to be effective in reducing the amount of switching times triggered from the previously developed AID algorithm under an appropriately selected control sampling period for different earthquakes, but the AID-off 2 algorithm outperforms the AID-off algorithm in reducing the number of switching times
Distributed control software of high-performance control-loop algorithm
Blanc, D
1999-01-01
The majority of industrial cooling and ventilation plants require the control of complex processes. All these processes are highly important for the operation of the machines. The stability and reliability of these processes are leading factors identifying the quality of the service provided. The control system architecture and software structure, as well, are required to have high dynamical performance and robust behaviour. The intelligent systems based on PID or RST controllers are used for their high level of stability and accuracy. The design and tuning of these complex controllers require the dynamic model of the plant to be known (generally obtained by identification) and the desired performance of the various control loops to be specified for achieving good performances. The concept of having a distributed control algorithm software provides full automation facilities with well-adapted functionality and good performances, giving methodology, means and tools to master the dynamic process optimization an...
Saifullah Khalid
2016-09-01
Full Text Available Three conventional control constant instantaneous power control, sinusoidal current control, and synchronous reference frame techniques for extracting reference currents for shunt active power filters have been optimized using Fuzzy Logic control and Adaptive Tabu search Algorithm and their performances have been compared. Critical analysis of Comparison of the compensation ability of different control strategies based on THD and speed will be done, and suggestions will be given for the selection of technique to be used. The simulated results using MATLAB model are presented, and they will clearly prove the value of the proposed control method of aircraft shunt APF. The waveforms observed after the application of filter will be having the harmonics within the limits and the power quality will be improved.
Small Spacecraft for Planetary Science
Baker, John; Castillo-Rogez, Julie; Bousquet, Pierre-W.; Vane, Gregg; Komarek, Tomas; Klesh, Andrew
2016-07-01
As planetary science continues to explore new and remote regions of the Solar system with comprehensive and more sophisticated payloads, small spacecraft offer the possibility for focused and more affordable science investigations. These small spacecraft or micro spacecraft (attitude control and determination, capable computer and data handling, and navigation are being met by technologies currently under development to be flown on CubeSats within the next five years. This paper will discuss how micro spacecraft offer an attractive alternative to accomplish specific science and technology goals and what relevant technologies are needed for these these types of spacecraft. Acknowledgements: Part of this work is being carried out at the Jet Propulsion Laboratory, California Institute of Technology under contract to NASA. Government sponsorship acknowledged.
Gravity Probe B spacecraft description
Bennett, Norman R; Burns, Kevin; Katz, Russell; Kirschenbaum, Jon; Mason, Gary; Shehata, Shawky
2015-01-01
The Gravity Probe B spacecraft, developed, integrated, and tested by Lockheed Missiles and Space Company and later Lockheed Martin Corporation, consisted of structures, mechanisms, command and data handling, attitude and translation control, electrical power, thermal control, flight software, and communications. When integrated with the payload elements, the integrated system became the space vehicle. Key requirements shaping the design of the spacecraft were: (1) the tight mission timeline (17 months, 9 days of on-orbit operation), (2) precise attitude and translational control, (3) thermal protection of science hardware, (4) minimizing aerodynamic, magnetic, and eddy current effects, and (5) the need to provide a robust, low risk spacecraft. The spacecraft met all mission requirements, as demonstrated by dewar lifetime meeting specification, positive power and thermal margins, precision attitude control and drag-free performance, reliable communications, and the collection of more than 97% of the available science data. (paper)
Adaptive Estimation and Heuristic Optimization of Nonlinear Spacecraft Attitude Dynamics
2016-09-15
Biology, Control and Artificial Intelligence , MIT Press, Cambridge, MA, USA, 1992. 177 [89] Thompson, R. E., Colombi, J. M., Black, J. T., and Ayres...utilized for parameter and state estimates. MMAE algorithms involve constructing a bank of recursive estimators, each assuming a different hypothesis for...this research, MMAE routines employing parallel banks of unscented attitude filters are applied to analytical models of spacecraft with time- varying
Harman, Richard R.
2006-01-01
The advantages of inducing a constant spin rate on a spacecraft are well known. A variety of science missions have used this technique as a relatively low cost method for conducting science. Starting in the late 1970s, NASA focused on building spacecraft using 3-axis control as opposed to the single-axis control mentioned above. Considerable effort was expended toward sensor and control system development, as well as the development of ground systems to independently process the data. As a result, spinning spacecraft development and their resulting ground system development stagnated. In the 1990s, shrinking budgets made spinning spacecraft an attractive option for science. The attitude requirements for recent spinning spacecraft are more stringent and the ground systems must be enhanced in order to provide the necessary attitude estimation accuracy. Since spinning spacecraft (SC) typically have no gyroscopes for measuring attitude rate, any new estimator would need to rely on the spacecraft dynamics equations. One estimation technique that utilized the SC dynamics and has been used successfully in 3-axis gyro-less spacecraft ground systems is the pseudo-linear Kalman filter algorithm. Consequently, a pseudo-linear Kalman filter has been developed which directly estimates the spacecraft attitude quaternion and rate for a spinning SC. Recently, a filter using Markley variables was developed specifically for spinning spacecraft. The pseudo-linear Kalman filter has the advantage of being easier to implement but estimates the quaternion which, due to the relatively high spinning rate, changes rapidly for a spinning spacecraft. The Markley variable filter is more complicated to implement but, being based on the SC angular momentum, estimates parameters which vary slowly. This paper presents a comparison of the performance of these two filters. Monte-Carlo simulation runs will be presented which demonstrate the advantages and disadvantages of both filters.
Modified Firefly Algorithm based controller design for integrating and unstable delay processes
A. Gupta
2016-03-01
Full Text Available In this paper, Modified Firefly Algorithm has been used for optimizing the controller parameters of Smith predictor structure. The proposed algorithm modifies the position formula of the standard Firefly Algorithm in order to achieve faster convergence rate. Performance criteria Integral Square Error (ISE is optimized using this optimization technique. Simulation results show high performance for Modified Firefly Algorithm as compared to conventional Firefly Algorithm in terms of convergence rate. Integrating and unstable delay processes are taken as examples to indicate the performance of the proposed method.
Genetic algorithms for adaptive real-time control in space systems
Vanderzijp, J.; Choudry, A.
1988-01-01
Genetic Algorithms that are used for learning as one way to control the combinational explosion associated with the generation of new rules are discussed. The Genetic Algorithm approach tends to work best when it can be applied to a domain independent knowledge representation. Applications to real time control in space systems are discussed.
A parallel row-based algorithm for standard cell placement with integrated error control
Sargent, Jeff S.; Banerjee, Prith
1989-01-01
A new row-based parallel algorithm for standard-cell placement targeted for execution on a hypercube multiprocessor is presented. Key features of this implementation include a dynamic simulated-annealing schedule, row-partitioning of the VLSI chip image, and two novel approaches to control error in parallel cell-placement algorithms: (1) Heuristic Cell-Coloring; (2) Adaptive Sequence Length Control.
Sokoler, Leo Emil; Dammann, Bernd; Madsen, Henrik
2014-01-01
This paper presents a decomposition algorithm for solving the optimal control problem (OCP) that arises in Mean-Variance Economic Model Predictive Control of stochastic linear systems. The algorithm applies the alternating direction method of multipliers to a reformulation of the OCP...
Implementation of Genetic Algorithm in Control Structure of Induction Motor A.C. Drive
BRANDSTETTER, P.
2014-11-01
Full Text Available Modern concepts of control systems with digital signal processors allow the implementation of time-consuming control algorithms in real-time, for example soft computing methods. The paper deals with the design and technical implementation of a genetic algorithm for setting proportional and integral gain of the speed controller of the A.C. drive with the vector-controlled induction motor. Important simulations and experimental measurements have been realized that confirm the correctness of the proposed speed controller tuned by the genetic algorithm and the quality speed response of the A.C. drive with changing parameters and disturbance variables, such as changes in load torque.
PSO-Based Algorithm Applied to Quadcopter Micro Air Vehicle Controller Design
Huu-Khoa Tran
2016-09-01
Full Text Available Due to the rapid development of science and technology in recent times, many effective controllers are designed and applied successfully to complicated systems. The significant task of controller design is to determine optimized control gains in a short period of time. With this purpose in mind, a combination of the particle swarm optimization (PSO-based algorithm and the evolutionary programming (EP algorithm is introduced in this article. The benefit of this integration algorithm is the creation of new best-parameters for control design schemes. The proposed controller designs are then demonstrated to have the best performance for nonlinear micro air vehicle models.
A guidance and control algorithm for scent tracking micro-robotic vehicle swarms
Dohner, J.L.
1998-03-01
Cooperative micro-robotic scent tracking vehicles are designed to collectively sniff out locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programmed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed
A guidance and control algorithm for scent tracking micro-robotic vehicle swarms
Dohner, J.L. [Sandia National Labs., Albuquerque, NM (United States). Structural Dynamics Dept.
1998-03-01
Cooperative micro-robotic scent tracking vehicles are designed to collectively sniff out locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programmed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.
Synthesis of sequential control algorithms for pneumatic drives controlled by monostable valves
Ł. Dworzak
2009-07-01
Full Text Available Application of the Grafpol method [1] for synthesising sequential control algorithms for pneumatic drives controlled by monostable valves is presented. The developed principles simplify the MTS method of programming production processes in the scope of the memory realisation [2]. Thanks to this, time for synthesising the schematic equation can be significantly reduced in comparison to the network transformation method [3]. The designed schematic equation makes a ground for writing an application program of a PLC using any language defined in IEC 61131-3.
Pyragas, V.; Pyragas, K.
2011-01-01
We propose a simple adaptive delayed feedback control algorithm for stabilization of unstable periodic orbits with unknown periods. The state dependent time delay is varied continuously towards the period of controlled orbit according to a gradient-descent method realized through three simple ordinary differential equations. We demonstrate the efficiency of the algorithm with the Roessler and Mackey-Glass chaotic systems. The stability of the controlled orbits is proven by computation of the Lyapunov exponents of linearized equations. -- Highlights: → A simple adaptive modification of the delayed feedback control algorithm is proposed. → It enables the control of unstable periodic orbits with unknown periods. → The delay time is varied continuously according to a gradient descend method. → The algorithm is embodied by three simple ordinary differential equations. → The validity of the algorithm is proven by computation of the Lyapunov exponents.
Algorithms and Methods for High-Performance Model Predictive Control
Frison, Gianluca
routines employed in the numerical tests. The main focus of this thesis is on linear MPC problems. In this thesis, both the algorithms and their implementation are equally important. About the implementation, a novel implementation strategy for the dense linear algebra routines in embedded optimization...... is proposed, aiming at improving the computational performance in case of small matrices. About the algorithms, they are built on top of the proposed linear algebra, and they are tailored to exploit the high-level structure of the MPC problems, with special care on reducing the computational complexity....
A parallel adaptive quantum genetic algorithm for the controllability of arbitrary networks.
Li, Yuhong; Gong, Guanghong; Li, Ni
2018-01-01
In this paper, we propose a novel algorithm-parallel adaptive quantum genetic algorithm-which can rapidly determine the minimum control nodes of arbitrary networks with both control nodes and state nodes. The corresponding network can be fully controlled with the obtained control scheme. We transformed the network controllability issue into a combinational optimization problem based on the Popov-Belevitch-Hautus rank condition. A set of canonical networks and a list of real-world networks were experimented. Comparison results demonstrated that the algorithm was more ideal to optimize the controllability of networks, especially those larger-size networks. We demonstrated subsequently that there were links between the optimal control nodes and some network statistical characteristics. The proposed algorithm provides an effective approach to improve the controllability optimization of large networks or even extra-large networks with hundreds of thousands nodes.
Semi-flocking algorithm for motion control of mobile sensors in large-scale surveillance systems.
Semnani, Samaneh Hosseini; Basir, Otman A
2015-01-01
The ability of sensors to self-organize is an important asset in surveillance sensor networks. Self-organize implies self-control at the sensor level and coordination at the network level. Biologically inspired approaches have recently gained significant attention as a tool to address the issue of sensor control and coordination in sensor networks. These approaches are exemplified by the two well-known algorithms, namely, the Flocking algorithm and the Anti-Flocking algorithm. Generally speaking, although these two biologically inspired algorithms have demonstrated promising performance, they expose deficiencies when it comes to their ability to maintain simultaneous robust dynamic area coverage and target coverage. These two coverage performance objectives are inherently conflicting. This paper presents Semi-Flocking, a biologically inspired algorithm that benefits from key characteristics of both the Flocking and Anti-Flocking algorithms. The Semi-Flocking algorithm approaches the problem by assigning a small flock of sensors to each target, while at the same time leaving some sensors free to explore the environment. This allows the algorithm to strike balance between robust area coverage and target coverage. Such balance is facilitated via flock-sensor coordination. The performance of the proposed Semi-Flocking algorithm is examined and compared with other two flocking-based algorithms once using randomly moving targets and once using a standard walking pedestrian dataset. The results of both experiments show that the Semi-Flocking algorithm outperforms both the Flocking algorithm and the Anti-Flocking algorithm with respect to the area of coverage and the target coverage objectives. Furthermore, the results show that the proposed algorithm demonstrates shorter target detection time and fewer undetected targets than the other two flocking-based algorithms.
Xu Xiangguo; Pan Yan; Deng Shiming; Xia Liang; Chan Mingyin
2013-01-01
The use of a multi-evaporator air conditioning (MEAC) system is advantageous in terms of installation convenience, high design flexibility, being easy to maintain and commission, better indoor thermal comfort control and higher energy efficiency. While MEAC units worth billions of dollars are sold worldwide, the detailed accounts on compressor capacity control and refrigeration flow distribution amongst evaporators remain unavailable in public domain, mainly due to commercial confidentiality. Limited control algorithms for MEAC systems have been developed based on system simulation, and no experimental-based capacity controller developments and their controllability tests may be identified in open literature. In the study reported in this paper, a novel capacity control algorithm, which imitated On–Off control of a single evaporator air conditioning (A/C) system in each indoor unit of a MEAC system by using variable speed compressor and electronic expansion valves (EEVs), was developed. Controllability tests under various settings for experimentally validating the novel capacity control algorithm were carried out and the control algorithm was further improved based on the experimental results. - Highlights: ► A capacity control algorithm for a multi-evaporator air conditioning system was developed. ► Experimental controllability tests under various settings were carried out. ► The control algorithm was further improved based on the experimental results.
Kuzishchin, V. F.; Merzlikina, E. I.; Van Va, Hoang
2017-11-01
The problem of PID and PI-algorithms tuning by means of the approximation by the least square method of the frequency response of a linear algorithm to the sub-optimal algorithm is considered. The advantage of the method is that the parameter values are obtained through one cycle of calculation. Recommendations how to choose the parameters of the least square method taking into consideration the plant dynamics are given. The parameters mentioned are the time constant of the filter, the approximation frequency range and the correction coefficient for the time delay parameter. The problem is considered for integrating plants for some practical cases (the level control system in a boiler drum). The transfer function of the suboptimal algorithm is determined relating to the disturbance that acts in the point of the control impact input, it is typical for thermal plants. In the recommendations it is taken into consideration that the overregulation for the transient process when the setpoint is changed is also limited. In order to compare the results the systems under consideration are also calculated by the classical method with the limited frequency oscillation index. The results given in the paper can be used by specialists dealing with tuning systems with the integrating plants.
A novel adaptive joint power control algorithm with channel estimation in a CDMA cellular system
无
2005-01-01
Joint power control has advantages of multi-user detection and power control; and it can combat the multi-access interference and the near-far problem. A novel adaptive joint power control algorithm with channel estimation in a CDMA cellular system was designed. Simulation results show that the algorithm can control the power not only quickly but also precisely with a time change. The method is useful for increasing system capacity.
Control of baker’s yeast fermentation : PID and fuzzy algorithms
Machado, Carlos; Gomes, Pedro; Soares, Rui; Pereira, Silvia; Soares, Filomena
2001-01-01
A MATLAB/SIMULINK-based simulator was employed for studies concerning the control of baker’s yeast fed-batch fermentation. Four control algorithms were implemented and compared: the classical PID control, two discrete versions- modified velocity and position algorithms, and a fuzzy law. The simulation package was seen to be an efficient tool for the simulation and tests of control strategies of the non-linear process.
Fouladi, Ehsan; Mojallali, Hamed
2018-01-01
In this paper, an adaptive backstepping controller has been tuned to synchronise two chaotic Colpitts oscillators in a master-slave configuration. The parameters of the controller are determined using shark smell optimisation (SSO) algorithm. Numerical results are presented and compared with those of particle swarm optimisation (PSO) algorithm. Simulation results show better performance in terms of accuracy and convergence for the proposed optimised method compared to PSO optimised controller or any non-optimised backstepping controller.
Fogel, L. J.; Calabrese, P. G.; Walsh, M. J.; Owens, A. J.
1982-01-01
Ways in which autonomous behavior of spacecraft can be extended to treat situations wherein a closed loop control by a human may not be appropriate or even possible are explored. Predictive models that minimize mean least squared error and arbitrary cost functions are discussed. A methodology for extracting cyclic components for an arbitrary environment with respect to usual and arbitrary criteria is developed. An approach to prediction and control based on evolutionary programming is outlined. A computer program capable of predicting time series is presented. A design of a control system for a robotic dense with partially unknown physical properties is presented.
Reinforcement Learning for Online Control of Evolutionary Algorithms
Eiben, A.; Horvath, Mark; Kowalczyk, Wojtek; Schut, Martijn
2007-01-01
The research reported in this paper is concerned with assessing the usefulness of reinforcment learning (RL) for on-line calibration of parameters in evolutionary algorithms (EA). We are running an RL procedure and the EA simultaneously and the RL is changing the EA parameters on-the-fly. We
Control algorithm for multiscale flow simulations of water
Kotsalis, E. M.; Walther, Jens Honore; Kaxiras, E.
2009-01-01
We present a multiscale algorithm to couple atomistic water models with continuum incompressible flow simulations via a Schwarz domain decomposition approach. The coupling introduces an inhomogeneity in the description of the atomistic domain and prevents the use of periodic boundary conditions...
Hasbullah Mohd Isa, Wan; Taha, Zahari; Mohd Khairuddin, Ismail; Majeed, Anwar P. P. Abdul; Fikri Muhammad, Khairul; Abdo Hashem, Mohammed; Mahmud, Jamaluddin; Mohamed, Zulkifli
2016-02-01
This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking.
CAS algorithm-based optimum design of PID controller in AVR system
Zhu Hui; Li Lixiang; Zhao Ying; Guo Yu; Yang Yixian
2009-01-01
This paper presents a novel design method for determining the optimal PID controller parameters of an automatic voltage regulator (AVR) system using the chaotic ant swarm (CAS) algorithm. In the tuning process of parameters, the CAS algorithm is iterated to give the optimal parameters of the PID controller based on the fitness theory, where the position vector of each ant in the CAS algorithm corresponds to the parameter vector of the PID controller. The proposed CAS-PID controllers can ensure better control system performance with respect to the reference input in comparison with GA-PID controllers. Numerical simulations are provided to verify the effectiveness and feasibility of PID controller based on CAS algorithm.
Active Noise Control Using Modified FsLMS and Hybrid PSOFF Algorithm
Ranjan Walia
2018-04-01
Full Text Available Active noise control is an efficient technique for noise cancellation of the system, which has been defined in this paper with the aid of Modified Filtered-s Least Mean Square (MFsLMS algorithm. The Hybrid Particle Swarm Optimization and Firefly (HPSOFF algorithm are used to identify the stability factor of the MFsLMS algorithm. The computational difficulty of the modified algorithm is reduced when compared with the original Filtered-s Least Mean Square (FsLMS algorithm. The noise sources are removed from the signal and it is compared with the existing FsLMS algorithm. The performance of the system is established with the normalized mean square error for two different types of noises. The proposed method has also been compared with the existing algorithms for the same purposes.
Controller Parameter Optimization for Nonlinear Systems Using Enhanced Bacteria Foraging Algorithm
V. Rajinikanth
2012-01-01
Full Text Available An enhanced bacteria foraging optimization (EBFO algorithm-based Proportional + integral + derivative (PID controller tuning is proposed for a class of nonlinear process models. The EBFO algorithm is a modified form of standard BFO algorithm. A multiobjective performance index is considered to guide the EBFO algorithm for discovering the best possible value of controller parameters. The efficiency of the proposed scheme has been validated through a comparative study with classical BFO, adaptive BFO, PSO, and GA based controller tuning methods proposed in the literature. The proposed algorithm is tested in real time on a nonlinear spherical tank system. The real-time results show that, EBFO tuned PID controller gives a smooth response for setpoint tracking performance.
Genetic Algorithm Tuning of PID Controller in Smith Predictor for Glucose Concentration Control
Tsonyo Slavov
2011-07-01
Full Text Available This paper focuses on design of a glucose concentration control system based on nonlinear model plant of E. coli MC4110 fed-batch cultivation process. Due to significant time delay in real time glucose concentration measurement, a correction is proposed in glucose concentration measurement and a Smith predictor (SP control structure based on universal PID controller is designed. To reduce the influence of model error in SP structure the estimate of measured glucose concentration is used. For the aim an extended Kalman filter (EKF is designed. To achieve good closed-loop system performance genetic algorithm (GA based optimal controller tuning procedure is applied. A standard binary encoding GA is applied. The GA parameters and operators are specified for the considered here problem. As a result the optimal PID controller settings are obtained. The simulation experiments of the control systems based on SP with EKF and without EKF are performed. The results show that the control system based on SP with EKF has a better performance than the one without EKF. For a short time the controller sets the control variable and maintains it at the desired set point during the cultivation process. As a result, a high biomass concentration of 48.3 g·l-1 is obtained at the end of the process.
Development of real-time plasma analysis and control algorithms for the TCV tokamak using SIMULINK
Felici, F.; Le, H.B.; Paley, J.I.; Duval, B.P.; Coda, S.; Moret, J.-M.; Bortolon, A.; Federspiel, L.; Goodman, T.P.; Hommen, G.; Karpushov, A.; Piras, F.; Pitzschke, A.; Romero, J.; Sevillano, G.; Sauter, O.; Vijvers, W.
2014-01-01
Highlights: • A new digital control system for the TCV tokamak has been commissioned. • The system is entirely programmable by SIMULINK, allowing rapid algorithm development. • Different control system nodes can run different algorithms at varying sampling times. • The previous control system functions have been emulated and improved. • New capabilities include MHD control, profile control, equilibrium reconstruction. - Abstract: One of the key features of the new digital plasma control system installed on the TCV tokamak is the possibility to rapidly design, test and deploy real-time algorithms. With this flexibility the new control system has been used for a large number of new experiments which exploit TCV's powerful actuators consisting of 16 individually controllable poloidal field coils and 7 real-time steerable electron cyclotron (EC) launchers. The system has been used for various applications, ranging from event-based real-time MHD control to real-time current diffusion simulations. These advances have propelled real-time control to one of the cornerstones of the TCV experimental program. Use of the SIMULINK graphical programming language to directly program the control system has greatly facilitated algorithm development and allowed a multitude of different algorithms to be deployed in a short time. This paper will give an overview of the developed algorithms and their application in physics experiments
Battiste, Vernol; Lawton, George; Lachter, Joel; Brandt, Summer; Koteskey, Robert; Dao, Arik-Quang; Kraut, Josh; Ligda, Sarah; Johnson, Walter W.
2012-01-01
Managing the interval between arrival aircraft is a major part of the en route and TRACON controller s job. In an effort to reduce controller workload and low altitude vectoring, algorithms have been developed to allow pilots to take responsibility for, achieve and maintain proper spacing. Additionally, algorithms have been developed to create dynamic weather-free arrival routes in the presence of convective weather. In a recent study we examined an algorithm to handle dynamic re-routing in the presence of convective weather and two distinct spacing algorithms. The spacing algorithms originated from different core algorithms; both were enhanced with trajectory intent data for the study. These two algorithms were used simultaneously in a human-in-the-loop (HITL) simulation where pilots performed weather-impacted arrival operations into Louisville International Airport while also performing interval management (IM) on some trials. The controllers retained responsibility for separation and for managing the en route airspace and some trials managing IM. The goal was a stress test of dynamic arrival algorithms with ground and airborne spacing concepts. The flight deck spacing algorithms or controller managed spacing not only had to be robust to the dynamic nature of aircraft re-routing around weather but also had to be compatible with two alternative algorithms for achieving the spacing goal. Flight deck interval management spacing in this simulation provided a clear reduction in controller workload relative to when controllers were responsible for spacing the aircraft. At the same time, spacing was much less variable with the flight deck automated spacing. Even though the approaches taken by the two spacing algorithms to achieve the interval management goals were slightly different they seem to be simpatico in achieving the interval management goal of 130 sec by the TRACON boundary.
Data-Driven Participation: Algorithms, Cities, Citizens, and Corporate Control
Matthew Tenney
2016-07-01
Full Text Available In this paper, we critically explore the interplay of algorithms and civic participation in visions of a city governed by equation, sensor and tweet. We begin by discussing the rhetoric surrounding techno-enabled paths to participatory democracy. This leads to us interrogating how the city is impacted by a discourse that promises to harness social/human capital through data science. We move to a praxis level and examine the motivations of local planners to adopt and increasingly automate forms of VGI as a form of citizen engagement. We ground theory and praxis with a report on the uneven impacts of algorithmic civic participation underway in the Canadian city of Toronto.
Fuzzy Sets-based Control Rules for Terminating Algorithms
Jose L. VERDEGAY
2002-01-01
Full Text Available In this paper some problems arising in the interface between two different areas, Decision Support Systems and Fuzzy Sets and Systems, are considered. The Model-Base Management System of a Decision Support System which involves some fuzziness is considered, and in that context the questions on the management of the fuzziness in some optimisation models, and then of using fuzzy rules for terminating conventional algorithms are presented, discussed and analyzed. Finally, for the concrete case of the Travelling Salesman Problem, and as an illustration of determination, management and using the fuzzy rules, a new algorithm easy to implement in the Model-Base Management System of any oriented Decision Support System is shown.
An approach of traffic signal control based on NLRSQP algorithm
Zou, Yuan-Yang; Hu, Yu
2017-11-01
This paper presents a linear program model with linear complementarity constraints (LPLCC) to solve traffic signal optimization problem. The objective function of the model is to obtain the minimization of total queue length with weight factors at the end of each cycle. Then, a combination algorithm based on the nonlinear least regression and sequence quadratic program (NLRSQP) is proposed, by which the local optimal solution can be obtained. Furthermore, four numerical experiments are proposed to study how to set the initial solution of the algorithm that can get a better local optimal solution more quickly. In particular, the results of numerical experiments show that: The model is effective for different arrival rates and weight factors; and the lower bound of the initial solution is, the better optimal solution can be obtained.
Genetic algorithms for optimal design and control of adaptive structures
Ribeiro, R; Dias-Rodrigues, J; Vaz, M
2000-01-01
Future High Energy Physics experiments require the use of light and stable structures to support their most precise radiation detection elements. These large structures must be light, highly stable, stiff and radiation tolerant in an environment where external vibrations, high radiation levels, material aging, temperature and humidity gradients are not negligible. Unforeseen factors and the unknown result of the coupling of environmental conditions, together with external vibrations, may affect the position stability of the detectors and their support structures compromising their physics performance. Careful optimization of static and dynamic behavior must be an essential part of the engineering design. Genetic Algorithms ( GA) belong to the group of probabilistic algorithms, combining elements of direct and stochastic search. They are more robust than existing directed search methods with the advantage of maintaining a population of potential solutions. There is a class of optimization problems for which Ge...
An improved cooperative adaptive cruise control (CACC) algorithm considering invalid communication
Wang, Pangwei; Wang, Yunpeng; Yu, Guizhen; Tang, Tieqiao
2014-05-01
For the Cooperative Adaptive Cruise Control (CACC) Algorithm, existing research studies mainly focus on how inter-vehicle communication can be used to develop CACC controller, the influence of the communication delays and lags of the actuators to the string stability. However, whether the string stability can be guaranteed when inter-vehicle communication is invalid partially has hardly been considered. This paper presents an improved CACC algorithm based on the sliding mode control theory and analyses the range of CACC controller parameters to maintain string stability. A dynamic model of vehicle spacing deviation in a platoon is then established, and the string stability conditions under improved CACC are analyzed. Unlike the traditional CACC algorithms, the proposed algorithm can ensure the functionality of the CACC system even if inter-vehicle communication is partially invalid. Finally, this paper establishes a platoon of five vehicles to simulate the improved CACC algorithm in MATLAB/Simulink, and the simulation results demonstrate that the improved CACC algorithm can maintain the string stability of a CACC platoon through adjusting the controller parameters and enlarging the spacing to prevent accidents. With guaranteed string stability, the proposed CACC algorithm can prevent oscillation of vehicle spacing and reduce chain collision accidents under real-world circumstances. This research proposes an improved CACC algorithm, which can guarantee the string stability when inter-vehicle communication is invalid.
Development of traffic light control algorithm in smart municipal network
Kuzminykh, Ievgeniia
2016-01-01
This paper presents smart system that bypasses the normal functioning algorithm of traffic lights, triggers a green light when the lights are red or reset the timer of the traffic lights when they are about to turn red. Different pieces of hardware like microcontroller units, transceivers, resistors, diodes, LEDs, a digital compass and accelerometer will be coupled together and programed to create unified complex intelligent system.
A Sampling Based Approach to Spacecraft Autonomous Maneuvering with Safety Specifications
Starek, Joseph A.; Barbee, Brent W.; Pavone, Marco
2015-01-01
This paper presents a methods for safe spacecraft autonomous maneuvering that leverages robotic motion-planning techniques to spacecraft control. Specifically the scenario we consider is an in-plan rendezvous of a chaser spacecraft in proximity to a target spacecraft at the origin of the Clohessy Wiltshire Hill frame. The trajectory for the chaser spacecraft is generated in a receding horizon fashion by executing a sampling based robotic motion planning algorithm name Fast Marching Trees (FMT) which efficiently grows a tree of trajectories over a set of probabillistically drawn samples in the state space. To enforce safety the tree is only grown over actively safe samples for which there exists a one-burn collision avoidance maneuver that circularizes the spacecraft orbit along a collision-free coasting arc and that can be executed under potential thrusters failures. The overall approach establishes a provably correct framework for the systematic encoding of safety specifications into the spacecraft trajectory generations process and appears amenable to real time implementation on orbit. Simulation results are presented for a two-fault tolerant spacecraft during autonomous approach to a single client in Low Earth Orbit.
Sanjay Kr. Singh; D. Boolchandani; S.G. Modani; Nitish Katal
2014-01-01
This study focuses on multi-objective optimization of the PID controllers for optimal speed control for an isolated steam turbine. In complex operations, optimal tuning plays an imperative role in maintaining the product quality and process safety. This study focuses on the comparison of the optimal PID tuning using Multi-objective Genetic Algorithm (NSGA-II) against normal genetic algorithm and Ziegler Nichols methods for the speed control of an isolated steam turbine. Isolated steam turbine...
New mode switching algorithm for the JPL 70-meter antenna servo controller
Nickerson, J. A.
1988-01-01
The design of control mode switching algorithms and logic for JPL's 70 m antenna servo controller are described. The old control mode switching logic was reviewed and perturbation problems were identified. Design approaches for mode switching are presented and the final design is described. Simulations used to compare old and new mode switching algorithms and logic show that the new mode switching techniques will significantly reduce perturbation problems.
Noise filtering algorithm for the MFTF-B computer based control system
Minor, E.G.
1983-01-01
An algorithm to reduce the message traffic in the MFTF-B computer based control system is described. The algorithm filters analog inputs to the control system. Its purpose is to distinguish between changes in the inputs due to noise and changes due to significant variations in the quantity being monitored. Noise is rejected while significant changes are reported to the control system data base, thus keeping the data base updated with a minimum number of messages. The algorithm is memory efficient, requiring only four bytes of storage per analog channel, and computationally simple, requiring only subtraction and comparison. Quantitative analysis of the algorithm is presented for the case of additive Gaussian noise. It is shown that the algorithm is stable and tends toward the mean value of the monitored variable over a wide variety of additive noise distributions
Anderson, Grant A. (Inventor)
2012-01-01
A spacecraft radiator system designed to provide structural support to the spacecraft. Structural support is provided by the geometric "crescent" form of the panels of the spacecraft radiator. This integration of radiator and structural support provides spacecraft with a semi-monocoque design.
van Ophem, S.; Berkhoff, Arthur P.
2016-01-01
For broadband active noise control applications with a rapidly changing primary path, it is desirable to find algorithms with a rapid convergence, a fast tracking performance, and a low computational cost. Recently, a promising algorithm has been presented, called the fast-array Kalman filter, which
Data-driven gradient algorithm for high-precision quantum control
Wu, Re-Bing; Chu, Bing; Owens, David H.; Rabitz, Herschel
2018-04-01
In the quest to achieve scalable quantum information processing technologies, gradient-based optimal control algorithms (e.g., grape) are broadly used for implementing high-precision quantum gates, but their performance is often hindered by deterministic or random errors in the system model and the control electronics. In this paper, we show that grape can be taught to be more effective by jointly learning from the design model and the experimental data obtained from process tomography. The resulting data-driven gradient optimization algorithm (d-grape) can in principle correct all deterministic gate errors, with a mild efficiency loss. The d-grape algorithm may become more powerful with broadband controls that involve a large number of control parameters, while other algorithms usually slow down due to the increased size of the search space. These advantages are demonstrated by simulating the implementation of a two-qubit controlled-not gate.
Spacecraft Jitter Attenuation Using Embedded Piezoelectric Actuators
Belvin, W. Keith
1995-01-01
Remote sensing from spacecraft requires precise pointing of measurement devices in order to achieve adequate spatial resolution. Unfortunately, various spacecraft disturbances induce vibrational jitter in the remote sensing instruments. The NASA Langley Research Center has performed analysis, simulations, and ground tests to identify the more promising technologies for minimizing spacecraft pointing jitter. These studies have shown that the use of smart materials to reduce spacecraft jitter is an excellent match between a maturing technology and an operational need. This paper describes the use of embedding piezoelectric actuators for vibration control and payload isolation. In addition, recent advances in modeling, simulation, and testing of spacecraft pointing jitter are discussed.
Operationally Responsive Spacecraft Subsystem, Phase I
National Aeronautics and Space Administration — Saber Astronautics proposes spacecraft subsystem control software which can autonomously reconfigure avionics for best performance during various mission conditions....
Study of the mode of angular velocity damping for a spacecraft at non-standard situation
Davydov, A. A.; Sazonov, V. V.
2012-07-01
Non-standard situation on a spacecraft (Earth's satellite) is considered, when there are no measurements of the spacecraft's angular velocity component relative to one of its body axes. Angular velocity measurements are used in controlling spacecraft's attitude motion by means of flywheels. The arising problem is to study the operation of standard control algorithms in the absence of some necessary measurements. In this work this problem is solved for the algorithm ensuring the damping of spacecraft's angular velocity. Such a damping is shown to be possible not for all initial conditions of motion. In the general case one of two possible final modes is realized, each described by stable steady-state solutions of the equations of motion. In one of them, the spacecraft's angular velocity component relative to the axis, for which the measurements are absent, is nonzero. The estimates of the regions of attraction are obtained for these steady-state solutions by numerical calculations. A simple technique is suggested that allows one to eliminate the initial conditions of the angular velocity damping mode from the attraction region of an undesirable solution. Several realizations of this mode that have taken place are reconstructed. This reconstruction was carried out using approximations of telemetry values of the angular velocity components and the total angular momentum of flywheels, obtained at the non-standard situation, by solutions of the equations of spacecraft's rotational motion.
A Hierarchical Algorithm for Integrated Scheduling and Control With Applications to Power Systems
Sokoler, Leo Emil; Dinesen, Peter Juhler; Jørgensen, John Bagterp
2016-01-01
The contribution of this paper is a hierarchical algorithm for integrated scheduling and control via model predictive control of hybrid systems. The controlled system is a linear system composed of continuous control, state, and output variables. Binary variables occur as scheduling decisions in ...
Hurlbert, Kathryn Miller
2009-01-01
In the 21st century, the National Aeronautics and Space Administration (NASA), the Russian Federal Space Agency, the National Space Agency of Ukraine, the China National Space Administration, and many other organizations representing spacefaring nations shall continue or newly implement robust space programs. Additionally, business corporations are pursuing commercialization of space for enabling space tourism and capital business ventures. Future space missions are likely to include orbiting satellites, orbiting platforms, space stations, interplanetary vehicles, planetary surface missions, and planetary research probes. Many of these missions will include humans to conduct research for scientific and terrestrial benefits and for space tourism, and this century will therefore establish a permanent human presence beyond Earth s confines. Other missions will not include humans, but will be autonomous (e.g., satellites, robotic exploration), and will also serve to support the goals of exploring space and providing benefits to Earth s populace. This section focuses on thermal management systems for human space exploration, although the guiding principles can be applied to unmanned space vehicles as well. All spacecraft require a thermal management system to maintain a tolerable thermal environment for the spacecraft crew and/or equipment. The requirements for human rating and the specified controlled temperature range (approximately 275 K - 310 K) for crewed spacecraft are unique, and key design criteria stem from overall vehicle and operational/programatic considerations. These criteria include high reliability, low mass, minimal power requirements, low development and operational costs, and high confidence for mission success and safety. This section describes the four major subsystems for crewed spacecraft thermal management systems, and design considerations for each. Additionally, some examples of specialized or advanced thermal system technologies are presented
Fuzzy PID control algorithm based on PSO and application in BLDC motor
Lin, Sen; Wang, Guanglong
2017-06-01
A fuzzy PID control algorithm is studied based on improved particle swarm optimization (PSO) to perform Brushless DC (BLDC) motor control which has high accuracy, good anti-jamming capability and steady state accuracy compared with traditional PID control. The mathematical and simulation model is established for BLDC motor by simulink software, and the speed loop of the fuzzy PID controller is designed. The simulation results show that the fuzzy PID control algorithm based on PSO has higher stability, high control precision and faster dynamic response speed.
Cull, R. C.; Eltimsahy, A. H.
1983-01-01
The present investigation is concerned with the formulation of energy management strategies for stand-alone photovoltaic (PV) systems, taking into account a basic control algorithm for a possible predictive, (and adaptive) controller. The control system controls the flow of energy in the system according to the amount of energy available, and predicts the appropriate control set-points based on the energy (insolation) available by using an appropriate system model. Aspects of adaptation to the conditions of the system are also considered. Attention is given to a statistical analysis technique, the analysis inputs, the analysis procedure, and details regarding the basic control algorithm.
Telban, Robert J.
While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. To address this, new human-centered motion cueing algorithms were developed. A revised "optimal algorithm" uses time-invariant filters developed by optimal control, incorporating human vestibular system models. The "nonlinear algorithm" is a novel approach that is also formulated by optimal control, but can also be updated in real time. It incorporates a new integrated visual-vestibular perception model that includes both visual and vestibular sensation and the interaction between the stimuli. A time-varying control law requires the matrix Riccati equation to be solved in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. As a result of unsatisfactory sensation, an augmented turbulence cue was added to the vertical mode for both the optimal and nonlinear algorithms. The relative effectiveness of the algorithms, in simulating aircraft maneuvers, was assessed with an eleven-subject piloted performance test conducted on the NASA Langley Visual Motion Simulator (VMS). Two methods, the quasi-objective NASA Task Load Index (TLX), and power spectral density analysis of pilot control, were used to assess pilot workload. TLX analysis reveals, in most cases, less workload and variation among pilots with the nonlinear algorithm. Control input
Cabaret, S; Coppier, H; Rachid, A; Barillère, R; CERN. Geneva. IT Department
2007-01-01
The GCS (Gas Control System) project team at CERN uses a Model Driven Approach with a Framework - UNICOS (UNified Industrial COntrol System) - based on PLC (Programming Language Controller) and SCADA (Supervisory Control And Data Acquisition) technologies. The first' UNICOS versions were able to provide a PID (Proportional Integrative Derivative) controller whereas the Gas Systems required more advanced control strategies. The MultiController is a new UNICOS object which provides the following advanced control algorithms: Smith Predictor, PFC (Predictive Function Control), RST* and GPC (Global Predictive Control). Its design is based on a monolithic entity with a global structure definition which is able to capture the desired set of parameters of any specific control algorithm supported by the object. The SCADA system -- PVSS - supervises the MultiController operation. The PVSS interface provides users with supervision faceplate, in particular it links any MultiController with recipes: the GCS experts are ab...
Attitude coordination for spacecraft formation with multiple communication delays
Guo Yaohua
2015-04-01
Full Text Available Communication delays are inherently present in information exchange between spacecraft and have an effect on the control performance of spacecraft formation. In this work, attitude coordination control of spacecraft formation is addressed, which is in the presence of multiple communication delays between spacecraft. Virtual system-based approach is utilized in case that a constant reference attitude is available to only a part of the spacecraft. The feedback from the virtual systems to the spacecraft formation is introduced to maintain the formation. Using backstepping control method, input torque of each spacecraft is designed such that the attitude of each spacecraft converges asymptotically to the states of its corresponding virtual system. Furthermore, the backstepping technique and the Lyapunov–Krasovskii method contribute to the control law design when the reference attitude is time-varying and can be obtained by each spacecraft. Finally, effectiveness of the proposed methodology is illustrated by the numerical simulations of a spacecraft formation.
Design of SVC Controller Based on Improved Biogeography-Based Optimization Algorithm
Feifei Dong
2014-01-01
Full Text Available Considering that common subsynchronous resonance controllers cannot adapt to the characteristics of the time-varying and nonlinear behavior of a power system, the cosine migration model, the improved migration operator, and the mutative scale of chaos and Cauchy mutation strategy are introduced into an improved biogeography-based optimization (IBBO algorithm in order to design an optimal subsynchronous damping controller based on the mechanism of suppressing SSR by static var compensator (SVC. The effectiveness of the improved controller is verified by eigenvalue analysis and electromagnetic simulations. The simulation results of Jinjie plant indicate that the subsynchronous damping controller optimized by the IBBO algorithm can remarkably improve the damping of torsional modes and thus effectively depress SSR, and ensure the safety and stability of units and power grid operation. Moreover, the IBBO algorithm has the merits of a faster searching speed and higher searching accuracy in seeking the optimal control parameters over traditional algorithms, such as BBO algorithm, PSO algorithm, and GA algorithm.
Dynamic Control of Airport Departures: Algorithm Development and Field Evaluation
Simaiakis, Ioannis; Balakrishnan, Hamsa
2012-01-01
Surface congestion leads to significant increases in taxi times and fuel burn at major airports. In this paper, we formulate the airport surface congestion management problem as a dynamic control problem. We address two main challenges: the random delay between actuation (at the gate) and the server being controlled (the runway), and the need to develop control strategies that can be implemented in practice by human air traffic controllers. The second requirement necessitates a strategy that ...
Investigation of an automatic trim algorithm for restructurable aircraft control
Weiss, J.; Eterno, J.; Grunberg, D.; Looze, D.; Ostroff, A.
1986-01-01
This paper develops and solves an automatic trim problem for restructurable aircraft control. The trim solution is applied as a feed-forward control to reject measurable disturbances following control element failures. Disturbance rejection and command following performances are recovered through the automatic feedback control redesign procedure described by Looze et al. (1985). For this project the existence of a failure detection mechanism is assumed, and methods to cope with potential detection and identification inaccuracies are addressed.
Optimization and Control of Bilinear Systems Theory, Algorithms, and Applications
Pardalos, Panos M
2008-01-01
Covers developments in bilinear systems theory Focuses on the control of open physical processes functioning in a non-equilibrium mode Emphasis is on three primary disciplines: modern differential geometry, control of dynamical systems, and optimization theory Includes applications to the fields of quantum and molecular computing, control of physical processes, biophysics, superconducting magnetism, and physical information science
Different Control Algorithms for a Platoon of Autonomous Vehicles
Zoran Gacovski
2014-05-01
Full Text Available This paper presents a concept of platoon movement of autonomous vehicles (smart cars. These vehicles have Adaptive or Advanced cruise control (ACC system also called Intelligent cruise control (ICC or Adaptive Intelligent cruise control (AICC system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combination of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.
SVC control enhancement applying self-learning fuzzy algorithm for islanded microgrid
Hossam Gabbar
2016-03-01
Full Text Available Maintaining voltage stability, within acceptable levels, for islanded Microgrids (MGs is a challenge due to limited exchange power between generation and loads. This paper proposes an algorithm to enhance the dynamic performance of islanded MGs in presence of load disturbance using Static VAR Compensator (SVC with Fuzzy Model Reference Learning Controller (FMRLC. The proposed algorithm compensates MG nonlinearity via fuzzy membership functions and inference mechanism imbedded in both controller and inverse model. Hence, MG keeps the desired performance as required at any operating condition. Furthermore, the self-learning capability of the proposed control algorithm compensates for grid parameter’s variation even with inadequate information about load dynamics. A reference model was designed to reject bus voltage disturbance with achievable performance by the proposed fuzzy controller. Three simulations scenarios have been presented to investigate effectiveness of proposed control algorithm in improving steady-state and transient performance of islanded MGs. The first scenario conducted without SVC, second conducted with SVC using PID controller and third conducted using FMRLC algorithm. A comparison for results shows ability of proposed control algorithm to enhance disturbance rejection due to learning process.
The research of automatic speed control algorithm based on Green CBTC
Lin, Ying; Xiong, Hui; Wang, Xiaoliang; Wu, Youyou; Zhang, Chuanqi
2017-06-01
Automatic speed control algorithm is one of the core technologies of train operation control system. It’s a typical multi-objective optimization control algorithm, which achieve the train speed control for timing, comfort, energy-saving and precise parking. At present, the train speed automatic control technology is widely used in metro and inter-city railways. It has been found that the automatic speed control technology can effectively reduce the driver’s intensity, and improve the operation quality. However, the current used algorithm is poor at energy-saving, even not as good as manual driving. In order to solve the problem of energy-saving, this paper proposes an automatic speed control algorithm based on Green CBTC system. Based on the Green CBTC system, the algorithm can adjust the operation status of the train to improve the efficient using rate of regenerative braking feedback energy while ensuring the timing, comfort and precise parking targets. Due to the reason, the energy-using of Green CBTC system is lower than traditional CBTC system. The simulation results show that the algorithm based on Green CBTC system can effectively reduce the energy-using due to the improvement of the using rate of regenerative braking feedback energy.
Model Predictive Control Algorithms for Pen and Pump Insulin Administration
Boiroux, Dimitri
at mealtime, and the case where the insulin sensitivity increases during the night. This thesis consists of a summary report, glucose and insulin proles of the clinical studies and research papers submitted, peer-reviewed and/or published in the period September 2009 - September 2012....... of current closed-loop controllers. In this thesis, we present different control strategies based on Model Predictive Control (MPC) for an artificial pancreas. We use Nonlinear Model Predictive Control (NMPC) in order to determine the optimal insulin and blood glucose profiles. The optimal control problem...
Active Engine Mounting Control Algorithm Using Neural Network
Fadly Jashi Darsivan
2009-01-01
Full Text Available This paper proposes the application of neural network as a controller to isolate engine vibration in an active engine mounting system. It has been shown that the NARMA-L2 neurocontroller has the ability to reject disturbances from a plant. The disturbance is assumed to be both impulse and sinusoidal disturbances that are induced by the engine. The performance of the neural network controller is compared with conventional PD and PID controllers tuned using Ziegler-Nichols. From the result simulated the neural network controller has shown better ability to isolate the engine vibration than the conventional controllers.
Learning Mobility: Adaptive Control Algorithms for the Novel Unmanned Ground Vehicle (NUGV)
Blackburn, Mike
2003-01-01
Mobility is a serious limiting factor in the usefulness of unmanned ground vehicles, This paper contains a description of our approach to develop control algorithms for the Novel Unmanned Ground Vehicle (NUGV...
National Aeronautics and Space Administration — SSCI proposes to develop and test a framework referred to as the ADVANCE (Algorithm Design and Validation for Adaptive Nonlinear Control Enhancement), within which...
Evaluation of TCP Congestion Control Algorithms on the Windows Vista Platform
Li, Yee-Ting; /SLAC
2006-07-07
CTCP, an innovative TCP congestion control algorithm developed by Microsoft, is evaluated and compared to HSTCP and StandardTCP. Tests were performed on the production Internet from Stanford Linear Accelerator Center (SLAC) to various geographically located hosts to give a broad overview of the performances. We find that certain issues were apparent during testing (not directly related to the congestion control algorithms) which may skew results. With this in mind, we find that CTCP performed similarly to HSTCP across a multitude of different network environments. However, to improve the fairness and to reduce the impact of CTCP upon existing StandardTCP traffic, two areas of further research were investigated. Algorithmic additions to CTCP for burst control to reduce the aggressiveness of its cwnd increments demonstrated beneficial improvements in both fairness and throughput over the original CTCP algorithm. Similarly, {gamma} auto-tuning algorithms were investigated to dynamically adapt CTCP flows to their network conditions for optimal performance. While the effects of these auto-tuning algorithms when used in addition to burst control showed little to no benefit to fairness nor throughput for the limited number of network paths tested, one of the auto-tuning algorithms performed such that there was negligible impact upon StandardTCP. With these improvements, CTCP was found to perform better than HSTCP in terms of fairness and similarly in terms of throughput under the production environments tested.
Evaluation of TCP Congestion Control Algorithms on the Windows Vista Platform
Li, Y
2006-01-01
CTCP, an innovative TCP congestion control algorithm developed by Microsoft, is evaluated and compared to HSTCP and StandardTCP. Tests were performed on the production Internet from Stanford Linear Accelerator Center (SLAC) to various geographically located hosts to give a broad overview of the performances. We find that certain issues were apparent during testing (not directly related to the congestion control algorithms) which may skew results. With this in mind, we find that CTCP performed similarly to HSTCP across a multitude of different network environments. However, to improve the fairness and to reduce the impact of CTCP upon existing StandardTCP traffic, two areas of further research were investigated. Algorithmic additions to CTCP for burst control to reduce the aggressiveness of its cwnd increments demonstrated beneficial improvements in both fairness and throughput over the original CTCP algorithm. Similarly, auto-tuning algorithms were investigated to dynamically adapt CTCP flows to their network conditions for optimal performance. Whilst the effects of these auto-tuning algorithms when used in addition to burst control showed little to no benefit to fairness nor throughput for the limited number of network paths tested, one of the auto-tuning algorithms performed such that there was negligible impact upon StandardTCP. With these improvements, CTCP was found to perform better than HSTCP in terms of fairness and similarly in terms of throughput under the production environments tested
Study on improved Ip-iq APF control algorithm and its application in micro grid
Xie, Xifeng; Shi, Hua; Deng, Haiyingv
2018-01-01
In order to enhance the tracking velocity and accuracy of harmonic detection by ip-iq algorithm, a novel ip-iq control algorithm based on the Instantaneous reactive power theory is presented, the improved algorithm adds the lead correction link to adjust the zero point of the detection system, the Fuzzy Self-Tuning Adaptive PI control is introduced to dynamically adjust the DC-link Voltage, which meets the requirement of the harmonic compensation of the micro grid. Simulation and experimental results verify the proposed method is feasible and effective in micro grid.
Chaos control of ferroresonance system based on RBF-maximum entropy clustering algorithm
Liu Fan; Sun Caixin; Sima Wenxia; Liao Ruijin; Guo Fei
2006-01-01
With regards to the ferroresonance overvoltage of neutral grounded power system, a maximum-entropy learning algorithm based on radial basis function neural networks is used to control the chaotic system. The algorithm optimizes the object function to derive learning rule of central vectors, and uses the clustering function of network hidden layers. It improves the regression and learning ability of neural networks. The numerical experiment of ferroresonance system testifies the effectiveness and feasibility of using the algorithm to control chaos in neutral grounded system
Implementation Of Fuzzy Automated Brake Controller Using TSK Algorithm
Mittal, Ruchi; Kaur, Magandeep
2010-11-01
In this paper an application of Fuzzy Logic for Automatic Braking system is proposed. Anti-blocking system (ABS) brake controllers pose unique challenges to the designer: a) For optimal performance, the controller must operate at an unstable equilibrium point, b) Depending on road conditions, the maximum braking torque may vary over a wide range, c) The tire slippage measurement signal, crucial for controller performance, is both highly uncertain and noisy. A digital controller design was chosen which combines a fuzzy logic element and a decision logic network. The controller identifies the current road condition and generates a command braking pressure signal Depending upon the speed and distance of train. This paper describes design criteria, and the decision and rule structure of the control system. The simulation results present the system's performance depending upon the varying speed and distance of the train.
Adaptive Dynamic Programming for Control Algorithms and Stability
Zhang, Huaguang; Luo, Yanhong; Wang, Ding
2013-01-01
There are many methods of stable controller design for nonlinear systems. In seeking to go beyond the minimum requirement of stability, Adaptive Dynamic Programming for Control approaches the challenging topic of optimal control for nonlinear systems using the tools of adaptive dynamic programming (ADP). The range of systems treated is extensive; affine, switched, singularly perturbed and time-delay nonlinear systems are discussed as are the uses of neural networks and techniques of value and policy iteration. The text features three main aspects of ADP in which the methods proposed for stabilization and for tracking and games benefit from the incorporation of optimal control methods: • infinite-horizon control for which the difficulty of solving partial differential Hamilton–Jacobi–Bellman equations directly is overcome, and proof provided that the iterative value function updating sequence converges to the infimum of all the value functions obtained by admissible control law sequences; • finite-...
Christopher Dyke
2015-05-01
Full Text Available Currently, there is no manual blind control guideline used consistently throughout the energy modeling community. This paper identifies and compares five manual blind control algorithms with unique control patterns and reports blind occlusion, rate of change data, and annual building energy consumption. The blind control schemes detailed here represent five reasonable candidates for use in lighting and energy simulation based on difference driving factors. This study was performed on a medium-sized office building using EnergyPlus with the internal daylight harvesting engine. Results show that applying manual blind control algorithms affects the total annual consumption of the building by as much as 12.5% and 11.5% for interior and exterior blinds respectively, compared to the Always Retracted blinds algorithm. Peak demand was also compared showing blind algorithms affected zone load sizing by as much as 9.8%. The alternate algorithms were tested for their impact on American Society of Heating, Refrigeration and Air-Conditioning Engineers (ASHRAE Guideline 14 calibration metrics and all models were found to differ from the original calibrated baseline by more than the recommended ±15% for coefficient of variance of the mean square error (CVRMSE and ±5% for normalized mean bias error (NMBE. The paper recommends that energy modelers use one or more manual blind control algorithms during design stages when making decisions about energy efficiency and other design alternatives.
Spacecraft rendezvous and docking
Jørgensen, John Leif
1999-01-01
The phenomenons and problems encountered when a rendezvous manoeuvre, and possible docking, of two spacecrafts has to be performed, have been the topic for numerous studies, and, details of a variety of scenarios has been analysed. So far, all solutions that has been brought into realization has...... been based entirely on direct human supervision and control. This paper describes a vision-based system and methodology, that autonomously generates accurate guidance information that may assist a human operator in performing the tasks associated with both the rendezvous and docking navigation...
Energy efficient topology control algorithm for wireless mesh networks
Aron, FO
2008-08-01
Full Text Available The control of the topology of a network makes it possible for the network nodes to reduce their power of transmission while ensuring that network connectivity is preserved. This paper explains the need for energy consumption control in Wireless...
Benchmarking Advanced Control Algorithms for a Laser Scanner System
Stoustrup, Jakob; Ordys, A.W.; Smillie, I.
1996-01-01
The paper describes tests performed on the laser scanner system toassess feasibility of modern control techniques in achieving a requiredperformance in the trajectory following problem. The two methods tested areQTR H-infinity and Predictive Control. The results are ilustated ona simulation example....
Developed adaptive neuro-fuzzy algorithm to control air conditioning ...
The paper developed artificial intelligence technique adaptive neuro-fuzzy controller for air conditioning systems at different pressures. The first order Sugeno fuzzy inference system was implemented and utilized for modeling and controller design. In addition, the estimation of the heat transfer rate and water mass flow rate ...
Ghoudjehbaklou, H.; Danai, B.
2001-01-01
Reactive power dispatch for voltage profile modification has been of interest to power utilities. Usually local bus voltages can be altered by changing generator voltages, reactive shunts, ULTC transformers and SVCs. Determination of optimum values for control parameters, however, is not simple for modern power system networks. Heuristic and rather intelligent algorithms have to be sought. In this paper a new algorithm is proposed that is based on a variant of a genetic algorithm combined with simulated annealing updates. In this algorithm a fuzzy multi-objective a approach is used for the fitness function of the genetic algorithm. This fuzzy multi-objective function can efficiently modify the voltage profile in order to minimize transmission lines losses, thus reducing the operating costs. The reason for such a combination is to utilize the best characteristics of each method and overcome their deficiencies. The proposed algorithm is much faster than the classical genetic algorithm and cna be easily integrated into existing power utilities software. The proposed algorithm is tested on an actual system model of 1284 buses, 799 lines, 1175 fixed and ULTC transformers, 86 generators, 181 controllable shunts and 425 loads
Making the error-controlling algorithm of observable operator models constructive.
Zhao, Ming-Jie; Jaeger, Herbert; Thon, Michael
2009-12-01
Observable operator models (OOMs) are a class of models for stochastic processes that properly subsumes the class that can be modeled by finite-dimensional hidden Markov models (HMMs). One of the main advantages of OOMs over HMMs is that they admit asymptotically correct learning algorithms. A series of learning algorithms has been developed, with increasing computational and statistical efficiency, whose recent culmination was the error-controlling (EC) algorithm developed by the first author. The EC algorithm is an iterative, asymptotically correct algorithm that yields (and minimizes) an assured upper bound on the modeling error. The run time is faster by at least one order of magnitude than EM-based HMM learning algorithms and yields significantly more accurate models than the latter. Here we present a significant improvement of the EC algorithm: the constructive error-controlling (CEC) algorithm. CEC inherits from EC the main idea of minimizing an upper bound on the modeling error but is constructive where EC needs iterations. As a consequence, we obtain further gains in learning speed without loss in modeling accuracy.
A Novel Control Algorithm for Static Series Compensators by Use of PQR Instantaneous Power Theory
Lee, Sang-Joon; Kim, Hyosung; Sul, Seung-Ki
2004-01-01
in coordinates is very simple and clear, has better steady state and dynamic performance. The controlled variables in coordinates are then inversely transformed to the original coordinates without time delay, generating control signals to SSCs. The control algorithm can be used for various kinds of SSCs...
Automatic Tuning of PID Controller for a 1-D Levitation System Using a Genetic Algorithm
Yang, Zhenyu; Pedersen, Gerulf K.m.
2006-01-01
The automatic PID control design for a onedimensional magnetic levitation system is investigated. The PID controller is automatically tuned using the non-dominated sorting genetic algorithm (NSGA-II) based on a nonlinear system model. The developed controller is digitally implemented and tested...
A chaos-based image encryption algorithm with variable control parameters
Wang Yong; Wong, K.-W.; Liao Xiaofeng; Xiang Tao; Chen Guanrong
2009-01-01
In recent years, a number of image encryption algorithms based on the permutation-diffusion structure have been proposed. However, the control parameters used in the permutation stage are usually fixed in the whole encryption process, which favors attacks. In this paper, a chaos-based image encryption algorithm with variable control parameters is proposed. The control parameters used in the permutation stage and the keystream employed in the diffusion stage are generated from two chaotic maps related to the plain-image. As a result, the algorithm can effectively resist all known attacks against permutation-diffusion architectures. Theoretical analyses and computer simulations both confirm that the new algorithm possesses high security and fast encryption speed for practical image encryption.
Scalable algorithms for optimal control of stochastic PDEs
Ghattas, Omar
2016-01-07
We present methods for the optimal control of systems governed by partial differential equations with infinite-dimensional uncertain parameters. We consider an objective function that involves the mean and variance of the control objective, leading to a risk-averse optimal control formulation. To make the optimal control problem computationally tractable, we employ a local quadratic approximation of the objective with respect to the uncertain parameter. This enables computation of the mean and variance of the control objective analytically. The resulting risk-averse optimization problem is formulated as a PDE-constrained optimization problem with constraints given by the forward and adjoint PDEs for the first and second-order derivatives of the quantity of interest with respect to the uncertain parameter, and with an objective that involves the trace of a covariance-preconditioned Hessian (of the objective with respect to the uncertain parameters) operator. A randomized trace estimator is used to make tractable the trace computation. Adjoint-based techniques are used to derive an expression for the infinite-dimensional gradient of the risk-averse objective function via the Lagrangian, leading to a quasi-Newton method for solution of the optimal control problem. A specific problem of optimal control of a linear elliptic PDE that describes flow of a fluid in a porous medium with uncertain permeability field is considered. We present numerical results to study the consequences of the local quadratic approximation and the efficiency of the method.
Scalable algorithms for optimal control of stochastic PDEs
Ghattas, Omar; Alexanderian, Alen; Petra, Noemi; Stadler, Georg
2016-01-01
We present methods for the optimal control of systems governed by partial differential equations with infinite-dimensional uncertain parameters. We consider an objective function that involves the mean and variance of the control objective, leading to a risk-averse optimal control formulation. To make the optimal control problem computationally tractable, we employ a local quadratic approximation of the objective with respect to the uncertain parameter. This enables computation of the mean and variance of the control objective analytically. The resulting risk-averse optimization problem is formulated as a PDE-constrained optimization problem with constraints given by the forward and adjoint PDEs for the first and second-order derivatives of the quantity of interest with respect to the uncertain parameter, and with an objective that involves the trace of a covariance-preconditioned Hessian (of the objective with respect to the uncertain parameters) operator. A randomized trace estimator is used to make tractable the trace computation. Adjoint-based techniques are used to derive an expression for the infinite-dimensional gradient of the risk-averse objective function via the Lagrangian, leading to a quasi-Newton method for solution of the optimal control problem. A specific problem of optimal control of a linear elliptic PDE that describes flow of a fluid in a porous medium with uncertain permeability field is considered. We present numerical results to study the consequences of the local quadratic approximation and the efficiency of the method.
Development of fuzzy algorithm with learning function for nuclear steam generator level control
Park, Gee Yong; Seong, Poong Hyun
1993-01-01
A fuzzy algorithm with learning function is applied to the steam generator level control of nuclear power plant. This algorithm can make its rule base and membership functions suited for steam generator level control by use of the data obtained from the control actions of a skilled operator or of other controllers (i.e., PID controller). The rule base of fuzzy controller with learning function is divided into two parts. One part of the rule base is provided to level control of steam generator at low power level (0 % - 30 % of full power) and the other to level control at high power level (30 % - 100 % of full power). Response time of steam generator level control at low power range with this rule base is shown to be shorter than that of fuzzy controller with direct inference. (Author)
A review on control system algorithm for building automation systems
Noubissie-Tientcheu, SI
2016-09-01
Full Text Available The building with its components such as Heating Ventilation Air Conditioning (HVAC) and lighting constitute a bigger part of energy consumption in Southern Africa. Control system in a building reduced the energy consumption, according to different...
Coban, Ramazan
2011-01-01
Research highlights: → A closed-loop fuzzy logic controller based on the particle swarm optimization algorithm was proposed for controlling the power level of nuclear research reactors. → The proposed control system was tested for various initial and desired power levels, and it could control the reactor successfully for most situations. → The proposed controller is robust against the disturbances. - Abstract: In this paper, a closed-loop fuzzy logic controller based on the particle swarm optimization algorithm is proposed for controlling the power level of nuclear research reactors. The principle of the fuzzy logic controller is based on the rules constructed from numerical experiments made by means of a computer code for the core dynamics calculation and from human operator's experience and knowledge. In addition to these intuitive and experimental design efforts, consequent parts of the fuzzy rules are optimally (or near optimally) determined using the particle swarm optimization algorithm. The contribution of the proposed algorithm to a reactor control system is investigated in details. The performance of the controller is also tested with numerical simulations in numerous operating conditions from various initial power levels to desired power levels, as well as under disturbance. It is shown that the proposed control system performs satisfactorily under almost all operating conditions, even in the case of very small initial power levels.
State-Space Equations and the First-Phase Algorithm for Signal Control of Single Intersections
LI Jinyuan; PAN Xin; WANG Xiqin
2007-01-01
State-space equations were applied to formulate the queuing and delay of traffic at a single intersection in this paper. The signal control of a single intersection was then modeled as a discrete-time optimal control problem, with consideration of the constraints of stream conflicts, saturation flow rate, minimum green time, and maximum green time. The problem cannot be solved directly due to the nonlinear constraints.However, the results of qualitative analysis were used to develop a first-phase signal control algorithm. Simulation results show that the algorithm substantially reduces the total delay compared to fixed-time control.
Moore, J H
1995-06-01
A genetic algorithm for instrumentation control and optimization was developed using the LabVIEW graphical programming environment. The usefulness of this methodology for the optimization of a closed loop control instrument is demonstrated with minimal complexity and the programming is presented in detail to facilitate its adaptation to other LabVIEW applications. Closed loop control instruments have variety of applications in the biomedical sciences including the regulation of physiological processes such as blood pressure. The program presented here should provide a useful starting point for those wishing to incorporate genetic algorithm approaches to LabVIEW mediated optimization of closed loop control instruments.
Extracting quantum dynamics from genetic learning algorithms through principal control analysis
White, J L; Pearson, B J; Bucksbaum, P H
2004-01-01
Genetic learning algorithms are widely used to control ultrafast optical pulse shapes for photo-induced quantum control of atoms and molecules. An unresolved issue is how to use the solutions found by these algorithms to learn about the system's quantum dynamics. We propose a simple method based on covariance analysis of the control space, which can reveal the degrees of freedom in the effective control Hamiltonian. We have applied this technique to stimulated Raman scattering in liquid methanol. A simple model of two-mode stimulated Raman scattering is consistent with the results. (letter to the editor)
Quadratic Stabilization of LPV System by an LTI Controller Based on ILMI Algorithm
Wei Xie
2007-01-01
Full Text Available A linear time-invariant (LTI output feedback controller is designed for a linear parameter-varying (LPV control system to achieve quadratic stability. The LPV system includes immeasurable dependent parameters that are assumed to vary in a polytopic space. To solve this control problem, a heuristic algorithm is proposed in the form of an iterative linear matrix inequality (ILMI formulation. Furthermore, an effective method of setting an initial value of the ILMI algorithm is also proposed to increase the probability of getting an admissible solution for the controller design problem.
Pan, Indranil; Das, Saptarshi; Gupta, Amitava
2011-01-01
An optimal PID and an optimal fuzzy PID have been tuned by minimizing the Integral of Time multiplied Absolute Error (ITAE) and squared controller output for a networked control system (NCS). The tuning is attempted for a higher order and a time delay system using two stochastic algorithms viz. the Genetic Algorithm (GA) and two variants of Particle Swarm Optimization (PSO) and the closed loop performances are compared. The paper shows that random variation in network delay can be handled efficiently with fuzzy logic based PID controllers over conventional PID controllers. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.
Optimization of type-2 fuzzy controllers using the bee colony algorithm
Amador, Leticia
2017-01-01
This book focuses on the fields of fuzzy logic, bio-inspired algorithm; especially bee colony optimization algorithm and also considering the fuzzy control area. The main idea is that this areas together can to solve various control problems and to find better results. In this book we test the proposed method using two benchmark problems; the problem for filling a water tank and the problem for controlling the trajectory in an autonomous mobile robot. When Interval Type-2 Fuzzy Logic System is implemented to model the behavior of systems, the results show a better stabilization, because the analysis of uncertainty is better. For this reason we consider in this book the proposed method using fuzzy systems, fuzzy controllers, and bee colony optimization algorithm improve the behavior of the complex control problems.
Randomized Algorithms for Analysis and Control of Uncertain Systems With Applications
Tempo, Roberto; Dabbene, Fabrizio
2013-01-01
The presence of uncertainty in a system description has always been a critical issue in control. The main objective of Randomized Algorithms for Analysis and Control of Uncertain Systems, with Applications (Second Edition) is to introduce the reader to the fundamentals of probabilistic methods in the analysis and design of systems subject to deterministic and stochastic uncertainty. The approach propounded by this text guarantees a reduction in the computational complexity of classical control algorithms and in the conservativeness of standard robust control techniques. The second edition has been thoroughly updated to reflect recent research and new applications with chapters on statistical learning theory, sequential methods for control and the scenario approach being completely rewritten. Features: · self-contained treatment explaining Monte Carlo and Las Vegas randomized algorithms from their genesis in the principles of probability theory to their use for system analysis; · ...
Velocity control of servo systems using an integral retarded algorithm.
Ramírez, Adrián; Garrido, Rubén; Mondié, Sabine
2015-09-01
This paper presents a design technique for the delay-based controller called Integral Retarded (IR), and its applications to velocity control of servo systems. Using spectral analysis, the technique yields a tuning strategy for the IR by assigning a triple real dominant root for the closed-loop system. This result ultimately guarantees a desired exponential decay rate σ(d) while achieving the IR tuning as explicit function of σ(d) and system parameters. The intentional introduction of delay allows using noisy velocity measurements without additional filtering. The structure of the controller is also able to avoid velocity measurements by using instead position information. The IR is compared to a classical PI, both tested in a laboratory prototype. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Advanced algorithm for MPPT control of photovoltaic systems
Liu, C.; Wu, B.; Cheung, R. [Ryerson Polytechnic Univ., Toronto, ON (Canada). Dept. of Electrical and Computer Engineering
2006-07-01
Although photovoltaic (PV) energy is a renewable, environmentally sound source of electricity, it is relatively costly. The maximum power point tracking (MPPT) of the PV output for all sunshine conditions is key to keeping the output power per unit cost low for successful PV applications. The MPPT control is challenging, because the sunshine condition that determines the amount of sun energy into the PV array may change at any time, and the voltage/current characteristic of PV arrays is highly nonlinear. The 5 components of a PV system for the grid-connected applications are a PV array that converts solar energy to electric energy; a dc-dc converter that converts low dc voltages produced by the PV arrays to a high dc voltage; an inverter that converts the high dc voltage to a single- or three-phase ac voltage; a digital controller that controls the converter operation with MPPT capability; and, an ac filter that absorbs voltage/current harmonics generated by the inverter. The technical requirements in developing a practical PV system include an optimal control that can extract the maximum output power from the PV arrays under all operating and weather conditions, and a high performance-to-cost ratio to help commercialize developed PV technologies. This paper proposed a new method for the MPPT control of PV systems. The new method uses one estimate process for every two perturb processes in search of the maximum PV output for all sunshine conditions. In this estimate-perturb-perturb (EPP) method, the perturb process conducts the search over a highly nonlinear PV characteristic, and the estimate process compensates the perturb process for irradiance-changing conditions. The EPP method improves the tracking accuracy and speed of the MPPT control compared to other methods. This paper demonstrated that the EPP method can provide accurate and reliable MPPT even under rapidly changing irradiance conditions. A grid-connected PV system using three MPPT controls was
An Algorithm for Creating Virtual Controls Using Integrated and Harmonized Longitudinal Data.
Hansen, William B; Chen, Shyh-Huei; Saldana, Santiago; Ip, Edward H
2018-06-01
We introduce a strategy for creating virtual control groups-cases generated through computer algorithms that, when aggregated, may serve as experimental comparators where live controls are difficult to recruit, such as when programs are widely disseminated and randomization is not feasible. We integrated and harmonized data from eight archived longitudinal adolescent-focused data sets spanning the decades from 1980 to 2010. Collectively, these studies examined numerous psychosocial variables and assessed past 30-day alcohol, cigarette, and marijuana use. Additional treatment and control group data from two archived randomized control trials were used to test the virtual control algorithm. Both randomized controlled trials (RCTs) assessed intentions, normative beliefs, and values as well as past 30-day alcohol, cigarette, and marijuana use. We developed an algorithm that used percentile scores from the integrated data set to create age- and gender-specific latent psychosocial scores. The algorithm matched treatment case observed psychosocial scores at pretest to create a virtual control case that figuratively "matured" based on age-related changes, holding the virtual case's percentile constant. Virtual controls matched treatment case occurrence, eliminating differential attrition as a threat to validity. Virtual case substance use was estimated from the virtual case's latent psychosocial score using logistic regression coefficients derived from analyzing the treatment group. Averaging across virtual cases created group estimates of prevalence. Two criteria were established to evaluate the adequacy of virtual control cases: (1) virtual control group pretest drug prevalence rates should match those of the treatment group and (2) virtual control group patterns of drug prevalence over time should match live controls. The algorithm successfully matched pretest prevalence for both RCTs. Increases in prevalence were observed, although there were discrepancies between live
Acikmese, Behcet A.; Carson, John M., III
2005-01-01
A robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems is developed that guarantees the resolvability of the associated finite-horizon optimal control problem in a receding-horizon implementation. The control consists of two components; (i) feedforward, and (ii) feedback part. Feed-forward control is obtained by online solution of a finite-horizon optimal control problem for the nominal system dynamics. The feedback control policy is designed off-line based on a bound on the uncertainty in the system model. The entire controller is shown to be robustly stabilizing with a region of attraction composed of initial states for which the finite-horizon optimal control problem is feasible. The controller design for this algorithm is demonstrated on a class of systems with uncertain nonlinear terms that have norm-bounded derivatives, and derivatives in polytopes. An illustrative numerical example is also provided.
Jinzhi Feng
2015-02-01
Full Text Available A new hierarchical control strategy for active hydropneumatic suspension systems is proposed. This strategy considers the dynamic characteristics of the actuator. The top hierarchy controller uses a combined control scheme: a genetic algorithm- (GA- based self-tuning proportional-integral-derivative controller and a fuzzy logic controller. For practical implementations of the proposed control scheme, a GA-based self-learning process is initiated only when the defined performance index of vehicle dynamics exceeds a certain debounce time threshold. The designed control algorithm is implemented on a virtual prototype and cosimulations are performed with different road disturbance inputs. Cosimulation results show that the active hydropneumatic suspension system designed in this study significantly improves riding comfort characteristics of vehicles. The robustness and adaptability of the proposed controller are also examined when the control system is subjected to extremely rough road conditions.
A semi-active suspension control algorithm for vehicle comprehensive vertical dynamics performance
Nie, Shida; Zhuang, Ye; Liu, Weiping; Chen, Fan
2017-08-01
Comprehensive performance of the vehicle, including ride qualities and road-holding, is essentially of great value in practice. Many up-to-date semi-active control algorithms improve vehicle dynamics performance effectively. However, it is hard to improve comprehensive performance for the conflict between ride qualities and road-holding around the second-order resonance. Hence, a new control algorithm is proposed to achieve a good trade-off between ride qualities and road-holding. In this paper, the properties of the invariant points are analysed, which gives an insight into the performance conflicting around the second-order resonance. Based on it, a new control algorithm is proposed. The algorithm employs a novel frequency selector to balance suspension ride and handling performance by adopting a medium damping around the second-order resonance. The results of this study show that the proposed control algorithm could improve the performance of ride qualities and suspension working space up to 18.3% and 8.2%, respectively, with little loss of road-holding compared to the passive suspension. Consequently, the comprehensive performance can be improved by 6.6%. Hence, the proposed algorithm is of great potential to be implemented in practice.
Distributed topology control algorithm for multihop wireless netoworks
Borbash, S. A.; Jennings, E. H.
2002-01-01
We present a network initialization algorithmfor wireless networks with distributed intelligence. Each node (agent) has only local, incomplete knowledge and it must make local decisions to meet a predefined global objective. Our objective is to use power control to establish a topology based onthe relative neighborhood graph which has good overall performance in terms of power usage, low interference, and reliability.
Developed adaptive neuro-fuzzy algorithm to control air conditioning ...
user
... conditioning system is highly appreciated and essential in most of our daily life. ... (Hossien and Karla, 2012) presented an overview work which provides an .... energy balance for SSSF and the mass flow balance for the water in the air are ..... of Automatic Control and Electrical Engineering at Siegen University, Germany.
Scheduling algorithms for automatic control systems for technological processes
Chernigovskiy, A. S.; Tsarev, R. Yu; Kapulin, D. V.
2017-01-01
Wide use of automatic process control systems and the usage of high-performance systems containing a number of computers (processors) give opportunities for creation of high-quality and fast production that increases competitiveness of an enterprise. Exact and fast calculations, control computation, and processing of the big data arrays - all of this requires the high level of productivity and, at the same time, minimum time of data handling and result receiving. In order to reach the best time, it is necessary not only to use computing resources optimally, but also to design and develop the software so that time gain will be maximal. For this purpose task (jobs or operations), scheduling techniques for the multi-machine/multiprocessor systems are applied. Some of basic task scheduling methods for the multi-machine process control systems are considered in this paper, their advantages and disadvantages come to light, and also some usage considerations, in case of the software for automatic process control systems developing, are made.
Efficient Algorithms for Network-Wide Road Traffic Control
van de Weg, G.S.
2017-01-01
Controlling road traffic networks is a complex problem. One of the difficulties is the coordination of actuators, such as traffic lights, variables speed limits, ramp metering and route guidance, with the aim to improve the network performance over a near-future time horizon. This dissertation
Developed adaptive neuro-fuzzy algorithm to control air conditioning ...
user
The paper developed artificial intelligence technique adaptive neuro-fuzzy ... system is highly appreciated and essential in most of our daily life. ... It can construct an input-output mapping based on human knowledge and specific input-output data ... fuzzy controllers to produce desirable internal temperature and air quality, ...
Instructional Regulation and Control: Cybernetics, Algorithmization and Heuristics in Education.
Landa, L. N.; And Others
This book on the aspects of instructional processes focuses on control of student cognitive activity during instruction. Chapter 1 introduces the cybernetic approach to the theory of instruction. It is followed by a chapter on instructional effectiveness and efficiency. The third chapter discusses cognitive processes and thinking. Chapter 4…
Efficient Algorithms for Distributed Control : A Structured Matrix Approach
Rice, J.K.
2010-01-01
Distributed systems are all around us, and they are fascinating, and have an enormous potential to improve our lives, if their complexity can be properly harnessed. All scientists and engineers are aware of the great potential of this subject, since we witness fantastic distributed control systems
Online learning algorithms : For passivity-based and distributed control
Nageshrao, S.P.
2016-01-01
Over the last couple of decades the demand for high precision and enhanced performance of physical systems has been steadily increasing. This demand often results in miniaturization and complex design, thus increasing the need for complex nonlinear control methods. Some of the state of the art
A Modified LQG Algorithm (MLQG for Robust Control of Nonlinear Multivariable Systems
Jens G. Balchen
1993-07-01
Full Text Available The original LQG algorithm is often characterized for its lack of robustness. This is because in the design of the estimator (Kalman filter the process disturbance is assumed to be white noise. If the estimator is to give good estimates, the Kalman gain is increased which means that the estimator fails to become robust. A solution to this problem is to replace the proportional Kalman gain matrix by a dynamic PI algorithm and the proportional LQ feedback gain matrix by a PI algorithm. A tuning method is developed which facilitates the tuning of a modified LQG control system (MLQG by only two tuning parameters.
A homotopy algorithm for digital optimal projection control GASD-HADOC
Collins, Emmanuel G., Jr.; Richter, Stephen; Davis, Lawrence D.
1993-01-01
The linear-quadratic-gaussian (LQG) compensator was developed to facilitate the design of control laws for multi-input, multi-output (MIMO) systems. The compensator is computed by solving two algebraic equations for which standard closed-loop solutions exist. Unfortunately, the minimal dimension of an LQG compensator is almost always equal to the dimension of the plant and can thus often violate practical implementation constraints on controller order. This deficiency is especially highlighted when considering control-design for high-order systems such as flexible space structures. This deficiency motivated the development of techniques that enable the design of optimal controllers whose dimension is less than that of the design plant. A homotopy approach based on the optimal projection equations that characterize the necessary conditions for optimal reduced-order control. Homotopy algorithms have global convergence properties and hence do not require that the initializing reduced-order controller be close to the optimal reduced-order controller to guarantee convergence. However, the homotopy algorithm previously developed for solving the optimal projection equations has sublinear convergence properties and the convergence slows at higher authority levels and may fail. A new homotopy algorithm for synthesizing optimal reduced-order controllers for discrete-time systems is described. Unlike the previous homotopy approach, the new algorithm is a gradient-based, parameter optimization formulation and was implemented in MATLAB. The results reported may offer the foundation for a reliable approach to optimal, reduced-order controller design.
Design and experimental evaluation of flexible manipulator control algorithms
Kwon, D.S.; Hwang, D.H.; Babcock, S.M.; Kress, R.L.
1995-01-01
Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using an inner pressure feedback loop. Shaping filter techniques have been applied as feedforward controllers to avoid structural vibrations during operation. Various types of shaping filter methods have been investigated. Among them, a new approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented
Algorithm for motion control of an exoskeleton during verticalization
Jatsun Sergey
2016-01-01
Full Text Available This paper considers lower limb exoskeleton that performs sit-to-stand motion. The work is focused on the control system design. An application of a null space projection methods for solving inverse kinematics problem is discussed. An adaptive multi-input multi-output regulator for the system is presented with the motivation for that choice. Results of the simulation for different versions of the regulator are shown.
Robust PD Sway Control of a Lifted Load for a Crane Using a Genetic Algorithm
Kawada, Kazuo; Sogo, Hiroyuki; Yamamoto, Toru; Mada, Yasuhiro
PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed.Although it is important to choose the suitable nominal model in designing the robust controller, it is not usually easy.In this paper, a new robust PD controller design scheme is proposed, which utilizes a genetic algorithm.
Modeling and Design of MPPT Controller Using Stepped P&O Algorithm in Solar Photovoltaic System
R. Prakash; B. Meenakshipriya; R. Kumaravelan
2014-01-01
This paper presents modeling and simulation of Grid Connected Photovoltaic (PV) system by using improved mathematical model. The model is used to study different parameter variations and effects on the PV array including operating temperature and solar irradiation level. In this paper stepped P&O algorithm is proposed for MPPT control. This algorithm will identify the suitable duty ratio in which the DC-DC converter should be operated to maximize the power output. Photo voltaic array with pro...
A controlled genetic algorithm by fuzzy logic and belief functions for job-shop scheduling.
Hajri, S; Liouane, N; Hammadi, S; Borne, P
2000-01-01
Most scheduling problems are highly complex combinatorial problems. However, stochastic methods such as genetic algorithm yield good solutions. In this paper, we present a controlled genetic algorithm (CGA) based on fuzzy logic and belief functions to solve job-shop scheduling problems. For better performance, we propose an efficient representational scheme, heuristic rules for creating the initial population, and a new methodology for mixing and computing genetic operator probabilities.
Method to evaluate steering and alignment algorithms for controlling emittance growth
Adolphsen, C.; Raubenheimer, T.
1993-04-01
Future linear colliders will likely use sophisticated beam-based alignment and/or steering algorithms to control the growth of the beam emittance in the linac. In this paper, a mathematical framework is presented which simplifies the evaluation of the effectiveness of these algorithms. As an application, a quad alignment that uses beam data taken with the nominal linac optics, and with a scaled optics, is evaluated in terms of the dispersive emittance growth remaining after alignment
A parallel adaptive quantum genetic algorithm for the controllability of arbitrary networks
Li, Yuhong
2018-01-01
In this paper, we propose a novel algorithm—parallel adaptive quantum genetic algorithm—which can rapidly determine the minimum control nodes of arbitrary networks with both control nodes and state nodes. The corresponding network can be fully controlled with the obtained control scheme. We transformed the network controllability issue into a combinational optimization problem based on the Popov-Belevitch-Hautus rank condition. A set of canonical networks and a list of real-world networks were experimented. Comparison results demonstrated that the algorithm was more ideal to optimize the controllability of networks, especially those larger-size networks. We demonstrated subsequently that there were links between the optimal control nodes and some network statistical characteristics. The proposed algorithm provides an effective approach to improve the controllability optimization of large networks or even extra-large networks with hundreds of thousands nodes. PMID:29554140
Floodeen, David
1998-01-01
The objective of this thesis is two-fold. The first goal is to expand the operational capabilities of the Ship's Service Converter Module control algorithm for a DC-to-DC converter using the Universal Controller...
An on-line modified least-mean-square algorithm for training neurofuzzy controllers.
Tan, Woei Wan
2007-04-01
The problem hindering the use of data-driven modelling methods for training controllers on-line is the lack of control over the amount by which the plant is excited. As the operating schedule determines the information available on-line, the knowledge of the process may degrade if the setpoint remains constant for an extended period. This paper proposes an identification algorithm that alleviates "learning interference" by incorporating fuzzy theory into the normalized least-mean-square update rule. The ability of the proposed methodology to achieve faster learning is examined by employing the algorithm to train a neurofuzzy feedforward controller for controlling a liquid level process. Since the proposed identification strategy has similarities with the normalized least-mean-square update rule and the recursive least-square estimator, the on-line learning rates of these algorithms are also compared.
Rabindra Kumar Sahu
2014-09-01
Full Text Available An attempt is made for the effective application of Gravitational Search Algorithm (GSA to optimize PI/PIDF controller parameters in Automatic Generation Control (AGC of interconnected power systems. Initially, comparison of several conventional objective functions reveals that ITAE yields better system performance. Then, the parameters of GSA technique are properly tuned and the GSA control parameters are proposed. The superiority of the proposed approach is demonstrated by comparing the results of some recently published techniques such as Differential Evolution (DE, Bacteria Foraging Optimization Algorithm (BFOA and Genetic Algorithm (GA. Additionally, sensitivity analysis is carried out that demonstrates the robustness of the optimized controller parameters to wide variations in operating loading condition and time constants of speed governor, turbine, tie-line power. Finally, the proposed approach is extended to a more realistic power system model by considering the physical constraints such as reheat turbine, Generation Rate Constraint (GRC and Governor Dead Band nonlinearity.
A Beacon Transmission Power Control Algorithm Based on Wireless Channel Load Forecasting in VANETs.
Mo, Yuanfu; Yu, Dexin; Song, Jun; Zheng, Kun; Guo, Yajuan
2015-01-01
In a vehicular ad hoc network (VANET), the periodic exchange of single-hop status information broadcasts (beacon frames) produces channel loading, which causes channel congestion and induces information conflict problems. To guarantee fairness in beacon transmissions from each node and maximum network connectivity, adjustment of the beacon transmission power is an effective method for reducing and preventing channel congestion. In this study, the primary factors that influence wireless channel loading are selected to construct the KF-BCLF, which is a channel load forecasting algorithm based on a recursive Kalman filter and employs multiple regression equation. By pre-adjusting the transmission power based on the forecasted channel load, the channel load was kept within a predefined range; therefore, channel congestion was prevented. Based on this method, the CLF-BTPC, which is a transmission power control algorithm, is proposed. To verify KF-BCLF algorithm, a traffic survey method that involved the collection of floating car data along a major traffic road in Changchun City is employed. By comparing this forecast with the measured channel loads, the proposed KF-BCLF algorithm was proven to be effective. In addition, the CLF-BTPC algorithm is verified by simulating a section of eight-lane highway and a signal-controlled urban intersection. The results of the two verification process indicate that this distributed CLF-BTPC algorithm can effectively control channel load, prevent channel congestion, and enhance the stability and robustness of wireless beacon transmission in a vehicular network.
A Beacon Transmission Power Control Algorithm Based on Wireless Channel Load Forecasting in VANETs.
Yuanfu Mo
Full Text Available In a vehicular ad hoc network (VANET, the periodic exchange of single-hop status information broadcasts (beacon frames produces channel loading, which causes channel congestion and induces information conflict problems. To guarantee fairness in beacon transmissions from each node and maximum network connectivity, adjustment of the beacon transmission power is an effective method for reducing and preventing channel congestion. In this study, the primary factors that influence wireless channel loading are selected to construct the KF-BCLF, which is a channel load forecasting algorithm based on a recursive Kalman filter and employs multiple regression equation. By pre-adjusting the transmission power based on the forecasted channel load, the channel load was kept within a predefined range; therefore, channel congestion was prevented. Based on this method, the CLF-BTPC, which is a transmission power control algorithm, is proposed. To verify KF-BCLF algorithm, a traffic survey method that involved the collection of floating car data along a major traffic road in Changchun City is employed. By comparing this forecast with the measured channel loads, the proposed KF-BCLF algorithm was proven to be effective. In addition, the CLF-BTPC algorithm is verified by simulating a section of eight-lane highway and a signal-controlled urban intersection. The results of the two verification process indicate that this distributed CLF-BTPC algorithm can effectively control channel load, prevent channel congestion, and enhance the stability and robustness of wireless beacon transmission in a vehicular network.
Machine vision algorithms applied to dynamic traffic light control
Fabio Andrés Espinosa Valcárcel
2013-01-01
número de autos presentes en imágenes capturadas por un conjunto de cámaras estratégicamente ubicadas en cada intersección. Usando esta información, el sistema selecciona la secuencia de acciones que optimicen el flujo vehicular dentro de la zona de control, en un escenario simulado. Los resultados obtenidos muestran que el sistema disminuye en un 20% los tiempos de retraso para cada vehículo y que además es capaz de adaptarse rápida y eficientemente a los cambios de flujo.
Yanagisawa, Masahiro
2007-01-01
We provide a control theoretical method for a computational lower bound of quantum algorithms based on quantum walks of a finite time horizon. It is shown that given a quantum network, there exists a control theoretical expression of the quantum system and the transition probability of the quantum walk is related to a norm of the associated transfer function.
Saltik, M.B.; Özkan, L.; Ludlage, J.H.A.; Weiland, S.; Van den Hof, P.M.J.
2018-01-01
In this paper, we discuss the model predictive control algorithms that are tailored for uncertain systems. Robustness notions with respect to both deterministic (or set based) and stochastic uncertainties are discussed and contributions are reviewed in the model predictive control literature. We
Control Algorithms Along Relative Equilibria of Underactuated Lagrangian Systems on Lie Groups
Nordkvist, Nikolaj; Bullo, F.
2008-01-01
We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation...
Control algorithms along relative equilibria of underactuated Lagrangian systems on Lie groups
Nordkvist, Nikolaj; Bullo, Francesco
2007-01-01
We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation...
Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents
Debabrata Atta
2010-01-01
Full Text Available This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called follower, to its neighbouring agent. A rigid and constraint consistent graph is called persistent graph. A persistent graph is minimally persistent if it is persistent, and no edge can be removed without losing its persistence. An acyclic (free of cycles in its sensing pattern minimally persistent graph of Leader-Follower structure has been considered here which can be constructed from an initial Leader-Follower seed (initial graph with two vertices, one is Leader and another one is First Follower and one edge in between them is directed towards Leader by Henneberg sequence (a procedure of growing a graph containing only vertex additions. A set of nonlinear optimization-based decentralized control laws for mobile autonomous point agents in two dimensional plane have been proposed. An infinitesimal deviation in formation shape created continuous motion of Leader is compensated by corresponding continuous motion of other agents fulfilling the shortest path criteria.
Atwell, Matthew J.; Hurlbert, Eric A.; Melcher, J. C.; Morehead, Robert L.
2017-01-01
An integrated cryogenic liquid oxygen, liquid methane (LOX/LCH4) reaction control system (RCS) was tested at NASA Glenn Research Center's Plum Brook Station in the Spacecraft Propulsion Research Facility (B-2) under vacuum and thermal vacuum conditions. The RCS is a subsystem of the Integrated Cryogenic Propulsion Test Article (ICPTA), a pressure-fed LOX/LCH4 propulsion system composed of a single 2,800 lbf main engine, two 28 lbf RCS engines, and two 7 lbf RCS engines. Propellants are stored in four 48 inch diameter 5083 aluminum tanks that feed both the main engine and RCS engines in parallel. Helium stored cryogenically in a composite overwrapped pressure vessel (COPV) flows through a heat exchanger on the main engine before being used to pressurize the propellant tanks to a design operating pressure of 325 psi. The ICPTA is capable of simultaneous main engine and RCS operation. The RCS engines utilize a coil-on-plug (COP) ignition system designed for operation in a vacuum environment, eliminating corona discharge issues associated with a high voltage lead. There are two RCS pods on the ICPTA, with two engines on each pod. One of these two engines is a heritage flight engine from Project Morpheus. Its sea level nozzle was removed and replaced by an 85:1 nozzle machined using Inconel 718, resulting in a maximum thrust of 28 lbf under altitude conditions. The other engine is a scaled down version of the 28 lbf engine, designed to match the core and overall mixture ratios as well as other injector characteristics. This engine can produce a maximum thrust of 7 lbf with an 85:1 nozzle that was additively manufactured using Inconel 718. Both engines are film-cooled and capable of limited duration gas-gas and gas-liquid operation, as well as steady-state liquid-liquid operation. Each pod contains one of each version, such that two engines of the same thrust level can be fired as a couple on opposite pods. The RCS feed system is composed of symmetrical 3/8 inch lines
Output Feedback Control of Electro-Hydraulic Cylinder Drives using the Twisting Algorithm
Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.
2014-01-01
contributions in literature. This paper considers the twisting algorithm when applied directly for output feedback control, and with the design based on a reduced order model representation of an arbitrary valve driven hydraulic cylinder drive. The consequence of implementing such a controller with the well......This paper discusses the utilization of the so-called twisting algorithm when applied in output feedback position control schemes for electro-hydraulic cylinder drives. The twisting controller was the first second order sliding controller ever introduced, and can structure-wise be considered...... feedback controller may be successfully applied to hydraulic valve driven cylinder drives, with performance being on the level with a conventional surface based first order sliding mode controller....
Controller tuning based on optimization algorithms of a novel spherical rolling robot
Sadegjian, Rasou [Dept. of Electrical, Biomedical, and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, QazvinI (Iran, Islamic Republic of); Masouleh, Mehdi Tale [Human and Robot Interaction Laboratory, Faculty of New Sciences and Technologies, University of Tehran, Tehran (Iran, Islamic Republic of)
2016-11-15
This study presents the construction process of a novel spherical rolling robot and control strategies that are used to improve robot locomotion. The proposed robot drive mechanism is constructed based on a combination of the pendulum and wheel drive mechanisms. The control model of the proposed robot is developed, and the state space model is calculated based on the obtained control model. Two control strategies are defined to improve the synchronization performance of the proposed robot motors. The proportional-derivative and proportional-integral-derivative controllers are designed based on the pole placement method. The proportional-integral-derivative controller leads to a better step response than the proportional-derivative controller. The controller parameters are tuned with genetic and differential evaluation algorithms. The proportional-integral-derivative controller which is tuned based on the differential evaluation algorithm leads to a better step response than the proportional-integral-derivative controller that is tuned based on genetic algorithm. Fuzzy logics are used to reduce the robot drive mechanism motors synchronizing process time to the end of achieving a high-performance controller. The experimental implementation results of fuzzy-proportional-integral-derivative on the proposed spherical rolling robot resulted in a desirable synchronizing performance in a short time.
Controller tuning based on optimization algorithms of a novel spherical rolling robot
Sadegjian, Rasou; Masouleh, Mehdi Tale
2016-01-01
This study presents the construction process of a novel spherical rolling robot and control strategies that are used to improve robot locomotion. The proposed robot drive mechanism is constructed based on a combination of the pendulum and wheel drive mechanisms. The control model of the proposed robot is developed, and the state space model is calculated based on the obtained control model. Two control strategies are defined to improve the synchronization performance of the proposed robot motors. The proportional-derivative and proportional-integral-derivative controllers are designed based on the pole placement method. The proportional-integral-derivative controller leads to a better step response than the proportional-derivative controller. The controller parameters are tuned with genetic and differential evaluation algorithms. The proportional-integral-derivative controller which is tuned based on the differential evaluation algorithm leads to a better step response than the proportional-integral-derivative controller that is tuned based on genetic algorithm. Fuzzy logics are used to reduce the robot drive mechanism motors synchronizing process time to the end of achieving a high-performance controller. The experimental implementation results of fuzzy-proportional-integral-derivative on the proposed spherical rolling robot resulted in a desirable synchronizing performance in a short time
Control and monitoring of On-line Trigger Algorithms using gaucho
Van Herwijnen, Eric
2005-01-01
In the LHCb experiment, the trigger decisions are computed by Gaudi (the LHCb software framework) algorithms running on an event filter farm of around 2000 PCs. The control and monitoring of these algorithms has to be integrated in the overall experiment control system (ECS). To enable and facilitate this integration Gaucho, the GAUdi Component Helping Online, was developed. Gaucho consists of three parts: a C++ package integrated with Gaudi, the communications package DIM, and a set of PVSS panels and libraries. PVSS is a commercial SCADA system chosen as toolkit and framework for the LHCb controls system. The C++ package implements monitor service interface (IMonitorSvc) following the Gaudi specifications, with methods to declare variables and histograms for monitoring. Algorithms writers use them to indicate which quantities should be monitored. Since the interface resides in the GaudiKernel the code does not need changing if the monitoring services are not present. The Gaudi main job implements a state ma...
3 x 3 free-space optical router based on crossbar network and its control algorithm
Hou, Peipei; Sun, Jianfeng; Yu, Zhou; Lu, Wei; Wang, Lijuan; Liu, Liren
2015-08-01
A 3 × 3 free-space optical router, which comprises optical switches and polarizing beam splitter (PBS) and based on crossbar network, is proposed in this paper. A control algorithm for the 3 × 3 free-space optical router is also developed to achieve rapid control without rearrangement. In order to test the performance of the network based on 3 × 3 free-space optical router and that of the algorithm developed for the optical router, experiments are designed. The experiment results show that the interconnection network based on the 3 × 3 free-space optical router has low cross talk, fast connection speed. Under the control of the algorithm developed, a non-block and real free interconnection network is obtained based on the 3 × 3 free-space optical router we proposed.
Gimazov Ruslan
2018-01-01
Full Text Available The paper considers the issue of supplying autonomous robots by solar batteries. Low efficiency of modern solar batteries is a critical issue for the whole industry of renewable energy. The urgency of solving the problem of improved energy efficiency of solar batteries for supplying the robotic system is linked with the task of maximizing autonomous operation time. Several methods to improve the energy efficiency of solar batteries exist. The use of MPPT charge controller is one these methods. MPPT technology allows increasing the power generated by the solar battery by 15 – 30%. The most common MPPT algorithm is the perturbation and observation algorithm. This algorithm has several disadvantages, such as power fluctuation and the fixed time of the maximum power point tracking. These problems can be solved by using a sufficiently accurate predictive and adaptive algorithm. In order to improve the efficiency of solar batteries, autonomous power supply system was developed, which included an intelligent MPPT charge controller with the fuzzy logic-based perturbation and observation algorithm. To study the implementation of the fuzzy logic apparatus in the MPPT algorithm, in Matlab/Simulink environment, we developed a simulation model of the system, including solar battery, MPPT controller, accumulator and load. Results of the simulation modeling established that the use of MPPT technology had increased energy production by 23%; introduction of the fuzzy logic algorithm to MPPT controller had greatly increased the speed of the maximum power point tracking and neutralized the voltage fluctuations, which in turn reduced the power underproduction by 2%.
A new home energy management algorithm with voltage control in a smart home environment
Elma, Onur; Selamogullari, Ugur Savas
2015-01-01
Energy management in electrical systems is one of the important issues for energy efficiency and future grid systems. Energy management is defined as a HEM (home energy management) on the residential consumer side. The HEM system plays a key role in residential demand response applications. In this study, a new HEM algorithm is proposed for smart home environments to reduce peak demand and increase the energy efficiency. The proposed algorithm includes VC (voltage control) methodology to reduce the power consumption of residential appliances so that the shifting of appliances is minimized. The results of the survey are used to produce representative load profiles for a weekday and for a weekend. Then, case studies are completed to test the proposed HEM algorithm in reducing the peak demand in the house. The main aim of the proposed HEM algorithm is to minimize the number of turned-off appliances to decrease demand so that the customer comfort is maximized. The smart home laboratory at Yildiz Technical University, Istanbul, Turkey is used in case studies. Experimental results show that the proposed HEM algorithm reduces the peak demand by 17.5% with the voltage control and by 38% with both the voltage control and the appliance shifting. - Highlights: • A new HEM (home energy management) algorithm is proposed. • Voltage control in the HEM is introduced as a solution for peak load reduction. • Customer comfort is maximized by minimizing the number of turned-off appliances. • The proposed HEM algorithm is experimentally validated at a smart home laboratory. • A survey is completed to produce typical load profiles of a Turkish family.
Adaptive Neural Network Algorithm for Power Control in Nuclear Power Plants
Husam Fayiz, Al Masri
2017-01-01
The aim of this paper is to design, test and evaluate a prototype of an adaptive neural network algorithm for the power controlling system of a nuclear power plant. The task of power control in nuclear reactors is one of the fundamental tasks in this field. Therefore, researches are constantly conducted to ameliorate the power reactor control process. Currently, in the Department of Automation in the National Research Nuclear University (NRNU) MEPhI, numerous studies are utilizing various methodologies of artificial intelligence (expert systems, neural networks, fuzzy systems and genetic algorithms) to enhance the performance, safety, efficiency and reliability of nuclear power plants. In particular, a study of an adaptive artificial intelligent power regulator in the control systems of nuclear power reactors is being undertaken to enhance performance and to minimize the output error of the Automatic Power Controller (APC) on the grounds of a multifunctional computer analyzer (simulator) of the Water-Water Energetic Reactor known as Vodo-Vodyanoi Energetichesky Reaktor (VVER) in Russian. In this paper, a block diagram of an adaptive reactor power controller was built on the basis of an intelligent control algorithm. When implementing intelligent neural network principles, it is possible to improve the quality and dynamic of any control system in accordance with the principles of adaptive control. It is common knowledge that an adaptive control system permits adjusting the controller’s parameters according to the transitions in the characteristics of the control object or external disturbances. In this project, it is demonstrated that the propitious options for an automatic power controller in nuclear power plants is a control system constructed on intelligent neural network algorithms. (paper)
Sum-of-squares-based fuzzy controller design using quantum-inspired evolutionary algorithm
Yu, Gwo-Ruey; Huang, Yu-Chia; Cheng, Chih-Yung
2016-07-01
In the field of fuzzy control, control gains are obtained by solving stabilisation conditions in linear-matrix-inequality-based Takagi-Sugeno fuzzy control method and sum-of-squares-based polynomial fuzzy control method. However, the optimal performance requirements are not considered under those stabilisation conditions. In order to handle specific performance problems, this paper proposes a novel design procedure with regard to polynomial fuzzy controllers using quantum-inspired evolutionary algorithms. The first contribution of this paper is a combination of polynomial fuzzy control and quantum-inspired evolutionary algorithms to undertake an optimal performance controller design. The second contribution is the proposed stability condition derived from the polynomial Lyapunov function. The proposed design approach is dissimilar to the traditional approach, in which control gains are obtained by solving the stabilisation conditions. The first step of the controller design uses the quantum-inspired evolutionary algorithms to determine the control gains with the best performance. Then, the stability of the closed-loop system is analysed under the proposed stability conditions. To illustrate effectiveness and validity, the problem of balancing and the up-swing of an inverted pendulum on a cart is used.
Fuzzy algorithms to generate level controllers for nuclear power plant steam generators
Moon, Byung Soo; Park, Jae Chang; Kim, Dong Hwa; Kim, Byung Koo
1993-01-01
In this paper, we present two sets of fuzzy algorithms for the steam generater level control; one for the high power operations where the flow error is available and the other for the low power operations where the flow error is not available. These are converted to a PID type controller for the high power case and to a quadratic function form of a controller for the low power case. These controllers are implemented on the Compact Nuclear Simulator at Korea Atomic Energy Research Institute and tested by a set of four simulation experiments for each. For both cases, the results show that the total variation of the level error and of the flow error are about 50% of those by the PI controllers with about one half of the control action. For the high power case, this is mainly due to the fact that a combination of two PD type controllers in the velocity algorithm form rather than a combination of two PI type controllers in the position algorithm form is used. For the low power case, the controller is essentially a PID type with a very small integral component where the average values for the derivative component input and for the controller output are used. (Author)
Optimization of Aero Engine Acceleration Control in Combat State Based on Genetic Algorithms
Li, Jie; Fan, Ding; Sreeram, Victor
2012-03-01
In order to drastically exploit the potential of the aero engine and improve acceleration performance in the combat state, an on-line optimized controller based on genetic algorithms is designed for an aero engine. For testing the validity of the presented control method, detailed joint simulation tests of the designed controller and the aero engine model are performed in the whole flight envelope. Simulation test results show that the presented control algorithm has characteristics of rapid convergence speed, high efficiency and can fully exploit the acceleration performance potential of the aero engine. Compared with the former controller, the designed on-line optimized controller (DOOC) can improve the security of the acceleration process and greatly enhance the aero engine thrust in the whole range of the flight envelope, the thrust increases an average of 8.1% in the randomly selected working states. The plane which adopts DOOC can acquire better fighting advantage in the combat state.
Machnes, S.; Sander, U.; Glaser, S. J.; Schulte-Herbrueggen, T.; Fouquieres, P. de; Gruslys, A.; Schirmer, S.
2011-01-01
For paving the way to novel applications in quantum simulation, computation, and technology, increasingly large quantum systems have to be steered with high precision. It is a typical task amenable to numerical optimal control to turn the time course of pulses, i.e., piecewise constant control amplitudes, iteratively into an optimized shape. Here, we present a comparative study of optimal-control algorithms for a wide range of finite-dimensional applications. We focus on the most commonly used algorithms: GRAPE methods which update all controls concurrently, and Krotov-type methods which do so sequentially. Guidelines for their use are given and open research questions are pointed out. Moreover, we introduce a unifying algorithmic framework, DYNAMO (dynamic optimization platform), designed to provide the quantum-technology community with a convenient matlab-based tool set for optimal control. In addition, it gives researchers in optimal-control techniques a framework for benchmarking and comparing newly proposed algorithms with the state of the art. It allows a mix-and-match approach with various types of gradients, update and step-size methods as well as subspace choices. Open-source code including examples is made available at http://qlib.info.
DC Voltage Droop Control Implementation in the AC/DC Power Flow Algorithm: Combinational Approach
Akhter, F.; Macpherson, D.E.; Harrison, G.P.
2015-01-01
of operational flexibility, as more than one VSC station controls the DC link voltage of the MTDC system. This model enables the study of the effects of DC droop control on the power flows of the combined AC/DC system for steady state studies after VSC station outages or transient conditions without needing...... to use its complete dynamic model. Further, the proposed approach can be extended to include multiple AC and DC grids for combined AC/DC power flow analysis. The algorithm is implemented by modifying the MATPOWER based MATACDC program and the results shows that the algorithm works efficiently....
Chaotic queue-based genetic algorithm for design of a self-tuning fuzzy logic controller
Saini, Sanju; Saini, J. S.
2012-11-01
This paper employs a chaotic queue-based method using logistic equation in a non-canonical genetic algorithm for optimizing the performance of a self-tuning Fuzzy Logic Controller, used for controlling a nonlinear double-coupled system. A comparison has been made with a standard canonical genetic algorithm implemented on the same plant. It has been shown that chaotic queue-method brings an improvement in the performance of the FLC for wide range of set point changes by a more profound initial population spread in the search space.
Genetic Algorithm Based PID Controller Tuning Approach for Continuous Stirred Tank Reactor
A. Jayachitra; R. Vinodha
2014-01-01
Genetic algorithm (GA) based PID (proportional integral derivative) controller has been proposed for tuning optimized PID parameters in a continuous stirred tank reactor (CSTR) process using a weighted combination of objective functions, namely, integral square error (ISE), integral absolute error (IAE), and integrated time absolute error (ITAE). Optimization of PID controller parameters is the key goal in chemical and biochemical industries. PID controllers have narrowed down the operating r...
Computational issues in alternating projection algorithms for fixed-order control design
Beran, Eric Bengt; Grigoriadis, K.
1997-01-01
Alternating projection algorithms have been introduced recently to solve fixed-order controller design problems described by linear matrix inequalities and non-convex coupling rank constraints. In this work, an extensive numerical experimentation using proposed benchmark fixed-order control design...... examples is used to indicate the computational efficiency of the method. These results indicate that the proposed alternating projections are effective in obtaining low-order controllers for small and medium order problems...
An Overview of the Automated Dispatch Controller Algorithms in the System Advisor Model (SAM)
DiOrio, Nicholas A [National Renewable Energy Lab. (NREL), Golden, CO (United States)
2017-11-22
Three automatic dispatch modes have been added to the battery model within the System Adviser Model. These controllers have been developed to perform peak shaving in an automated fashion, providing users with a way to see the benefit of reduced demand charges without manually programming a complicated dispatch control. A flexible input option allows more advanced interaction with the automated controller. This document will describe the algorithms in detail and present brief results on its use and limitations.
Meng, Lexuan; Dragicevic, Tomislav; Roldan Perez, Javier
2016-01-01
Distributed control methods based on consensus algorithms have become popular in recent years for microgrid (MG) systems. These kinds of algorithms can be applied to share information in order to coordinate multiple distributed generators within a MG. However, stability analysis becomes a challen......Distributed control methods based on consensus algorithms have become popular in recent years for microgrid (MG) systems. These kinds of algorithms can be applied to share information in order to coordinate multiple distributed generators within a MG. However, stability analysis becomes...... in the communication network, continuous-time methods can be inaccurate for this kind of dynamic study. Therefore, this paper aims at modeling a complete DC MG using a discrete-time approach in order to perform a sensitivity analysis taking into account the effects of the consensus algorithm. To this end......, a generalized modeling method is proposed and the influence of key control parameters, the communication topology and the communication speed are studied in detail. The theoretical results obtained with the proposed model are verified by comparing them with the results obtained with a detailed switching...
Aziz, H. M. Abdul [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Zhu, Feng [Purdue University, West Lafayette, IN (United States). Lyles School of Civil Engineering; Ukkusuri, Satish V. [Purdue University, West Lafayette, IN (United States). Lyles School of Civil Engineering
2017-10-04
Here, this research applies R-Markov Average Reward Technique based reinforcement learning (RL) algorithm, namely RMART, for vehicular signal control problem leveraging information sharing among signal controllers in connected vehicle environment. We implemented the algorithm in a network of 18 signalized intersections and compare the performance of RMART with fixed, adaptive, and variants of the RL schemes. Results show significant improvement in system performance for RMART algorithm with information sharing over both traditional fixed signal timing plans and real time adaptive control schemes. Additionally, the comparison with reinforcement learning algorithms including Q learning and SARSA indicate that RMART performs better at higher congestion levels. Further, a multi-reward structure is proposed that dynamically adjusts the reward function with varying congestion states at the intersection. Finally, the results from test networks show significant reduction in emissions (CO, CO_{2}, NO_{x}, VOC, PM_{10}) when RL algorithms are implemented compared to fixed signal timings and adaptive schemes.
Crawford, Kevan C.; Sandquist, Gary M.
1990-01-01
The emphasis of this work is the development and implementation of an automatic control philosophy which uses the classical operational philosophies as a foundation. Three control algorithms were derived based on various simplifying assumptions. Two of the algorithms were tested in computer simulations. After realizing the insensitivity of the system to the simplifications, the most reduced form of the algorithms was implemented on the computer control system at the University of Utah (UNEL). Since the operational philosophies have a higher priority than automatic control, they determine when automatic control may be utilized. Unlike the operational philosophies, automatic control is not concerned with component failures. The object of this philosophy is the movement of absorber rods to produce a requested power. When the current power level is compared to the requested power level, an error may be detected which will require the movement of a control rod to correct the error. The automatic control philosophy adds another dimension to the classical operational philosophies. Using this philosophy, normal operator interactions with the computer would be limited only to run parameters such as power, period, and run time. This eliminates subjective judgements, objective judgements under pressure, and distractions to the operator and insures the reactor will be operated in a safe and controlled manner as well as providing reproducible operations
Pattern Recognition Control Design
Gambone, Elisabeth A.
2018-01-01
Spacecraft control algorithms must know the expected vehicle response to any command to the available control effectors, such as reaction thrusters or torque devices. Spacecraft control system design approaches have traditionally relied on the estimated vehicle mass properties to determine the desired force and moment, as well as knowledge of the effector performance to efficiently control the spacecraft. A pattern recognition approach was used to investigate the relationship between the control effector commands and spacecraft responses. Instead of supplying the approximated vehicle properties and the thruster performance characteristics, a database of information relating the thruster ring commands and the desired vehicle response was used for closed-loop control. A Monte Carlo simulation data set of the spacecraft dynamic response to effector commands was analyzed to establish the influence a command has on the behavior of the spacecraft. A tool developed at NASA Johnson Space Center to analyze flight dynamics Monte Carlo data sets through pattern recognition methods was used to perform this analysis. Once a comprehensive data set relating spacecraft responses with commands was established, it was used in place of traditional control methods and gains set. This pattern recognition approach was compared with traditional control algorithms to determine the potential benefits and uses.
Ahn, Myunghoon; Kim, Woogoon; Yim, Hyeongsoon
2016-01-01
The PI (Proportional plus Integral) controller, which is the essential functional block in control systems, can automatically perform the stable control of an important plant process while reducing the steady state error and improving the transient response. However, if the received input PV (Process Variable) is not normal due to input channel trouble, it will be difficult to control the system automatically. For this reason, many control systems are implemented to change the operation mode from automatic to manual mode in the PI controller when the failed input PV is detected. If the PI controller is in automatic mode for all the time, the control signal varies as the change of the input PV is continuously reflected in the control algorithm. In the other cases, since the controller changes into the manual mode at t=0, the control signal is fixed at the last PI controller output and thus the feedback control is not performed anymore until the operator takes an action such as the operation mode change. As a result of analysis and simulations for the controller’s operation modes in all the cases of input channel trouble, we discovered that it is more appropriate to maintain the automatic mode despite the bad quality in the PV. Therefore, we improved the control system algorithm reflecting the analysis results for the operator’s convenience and the stability of a control system