This paper discusses a typical Localizer Mode of the Automatic Landing System control laws provided in all the new generation of Boeing Commercial Airplanes. The linear control law diagram of this mode consists of three separate modules: Yaw Damper, Roll Inner-Loop and Localizer Outer-Loop. The Yaw Damper and Roll Inner-Loop are used in conjunction with other modes of the roll axis control laws of the autopilot and are, therefore, predetermined for the Localizer Mode. The design begins with a simple system to which more intricate features can be added as required and when justified. The features of the basic design are: (1) Feedforward for predicting compensation in combination with feedback control for disturbance rejection (instead of excessive gains to compromise stability); (2) Command shaping for attenuating responses to commands (instead of using reduced gains); (3) Complementary filters with inertial data for attenuating responses to gusts, beam noise and terrain irregularities, in addition to protecting against noise, granularity, and excessive transport delays in air data and ILS signals; and (4) Sensor location compensation for reducing stability and noise impact (instead of employing reduced gains). The gain schedules have been determined from aerodynamic properties, with analytic gain schedules being used for gain schedule parameters having a continuous effect on the state models.
{"title":"Design of Localizer Capture and Track using Classical Control Techniques","authors":"Y. Ebrahimi, E. Coleman","doi":"10.1109/37.56272","DOIUrl":"https://doi.org/10.1109/37.56272","url":null,"abstract":"This paper discusses a typical Localizer Mode of the Automatic Landing System control laws provided in all the new generation of Boeing Commercial Airplanes. The linear control law diagram of this mode consists of three separate modules: Yaw Damper, Roll Inner-Loop and Localizer Outer-Loop. The Yaw Damper and Roll Inner-Loop are used in conjunction with other modes of the roll axis control laws of the autopilot and are, therefore, predetermined for the Localizer Mode. The design begins with a simple system to which more intricate features can be added as required and when justified. The features of the basic design are: (1) Feedforward for predicting compensation in combination with feedback control for disturbance rejection (instead of excessive gains to compromise stability); (2) Command shaping for attenuating responses to commands (instead of using reduced gains); (3) Complementary filters with inertial data for attenuating responses to gusts, beam noise and terrain irregularities, in addition to protecting against noise, granularity, and excessive transport delays in air data and ILS signals; and (4) Sensor location compensation for reducing stability and noise impact (instead of employing reduced gains). The gain schedules have been determined from aerodynamic properties, with analytic gain schedules being used for gain schedule parameters having a continuous effect on the state models.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114602118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper studies the automatic obstacle-avoidance guidance problem under the operational constraints imposed by the rotorcraft nap-of-the-earth (NOE) environment. The topic is discussed under two different circumstances. The first one assumes that a full range map is available, irrespective of the type of sensor being used. Two approaches are proposed to extend a two-dimensional obstacle-avoidance concept presented in a previous report. The second part of the paper deals with the situation where only a sparse range map is available from a passive sensor. An integrated approach to augment the passive sensor with an active one is discussed, along with the problem of data fusion and how it is affected by the characteristics of NOE flight.
{"title":"Integration of Active and Passive Sensors for Obstacle Avoidance","authors":"V. Cheng, B. Sridhar","doi":"10.1109/37.56277","DOIUrl":"https://doi.org/10.1109/37.56277","url":null,"abstract":"This paper studies the automatic obstacle-avoidance guidance problem under the operational constraints imposed by the rotorcraft nap-of-the-earth (NOE) environment. The topic is discussed under two different circumstances. The first one assumes that a full range map is available, irrespective of the type of sensor being used. Two approaches are proposed to extend a two-dimensional obstacle-avoidance concept presented in a previous report. The second part of the paper deals with the situation where only a sparse range map is available from a passive sensor. An integrated approach to augment the passive sensor with an active one is discussed, along with the problem of data fusion and how it is affected by the characteristics of NOE flight.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130345802","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Previous research performed in the Space Systems Laboratory has demonstrated the feasibility of teaching neural networks to regulate dynamic systems. This neuromorphic control algorithm is a direct application of the back propagation entrainment method, with those modifications required to pose the problem in a control systems framework. Prior work has been limited to computer simulation of the properties of the regulators developed by these networks: this paper presents the experimental results of using trained neural networks to regulate the pitch attitute of an underwater telerobot. The networks perform as predicted by the simulation results, however it is observed that the complexity of the calculations required can create unacceptable delays when using a single serial microprocessor to compute the control. This problem becomes especially acute when scalling the architecture to more complex neural topologies. Special purpose hardware, which directly implements the neural equations and hence realizes the benefits of the natural parallelism of these models, is seen as a necessary development for the effective use of neural controllers.
{"title":"Neuromorphic Pitch Attitute Regulation of an Underwater Telerobot","authors":"D. Akin, R. Sanner","doi":"10.1109/37.55126","DOIUrl":"https://doi.org/10.1109/37.55126","url":null,"abstract":"Previous research performed in the Space Systems Laboratory has demonstrated the feasibility of teaching neural networks to regulate dynamic systems. This neuromorphic control algorithm is a direct application of the back propagation entrainment method, with those modifications required to pose the problem in a control systems framework. Prior work has been limited to computer simulation of the properties of the regulators developed by these networks: this paper presents the experimental results of using trained neural networks to regulate the pitch attitute of an underwater telerobot. The networks perform as predicted by the simulation results, however it is observed that the complexity of the calculations required can create unacceptable delays when using a single serial microprocessor to compute the control. This problem becomes especially acute when scalling the architecture to more complex neural topologies. Special purpose hardware, which directly implements the neural equations and hence realizes the benefits of the natural parallelism of these models, is seen as a necessary development for the effective use of neural controllers.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132411007","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As part of a 1989 ACC Plenary Lecture, we feature here the essential role played by amplification and control in the successful development of the differential analyzer (DA). This first occurred with the introduction of the capstan torque amplifier in Vannevar Bush's largely mechanical form (as the 1930 MDA) and then later with use of the voltage operational amplifier in an electronic embodiment (as the 1947 EDA or electronic analog computer). Certain essential components and features of both MDAs and EDAs are outlined and contrasted, where the fast all-electronic EDA best exemplifies the distinctive benefits attending the evolution from mostly mechanical to fully electrical implementation.
{"title":"The Differential Analyzer as an Active Mathematical Instrument: Control Applied to Mechanism and Circuitry","authors":"H. M. Paynter","doi":"10.1109/37.41449","DOIUrl":"https://doi.org/10.1109/37.41449","url":null,"abstract":"As part of a 1989 ACC Plenary Lecture, we feature here the essential role played by amplification and control in the successful development of the differential analyzer (DA). This first occurred with the introduction of the capstan torque amplifier in Vannevar Bush's largely mechanical form (as the 1930 MDA) and then later with use of the voltage operational amplifier in an electronic embodiment (as the 1947 EDA or electronic analog computer). Certain essential components and features of both MDAs and EDAs are outlined and contrasted, where the fast all-electronic EDA best exemplifies the distinctive benefits attending the evolution from mostly mechanical to fully electrical implementation.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123781265","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790245
S. Hong, A. Ray
Token bus protocols are widely accepted Medium Access Control (MAC) protocols in Computer Integrated manufacturing (CIM) networks which are designed to accommodate heterogeneous traffic of real-time and non-real-time data. The priority scheme in token bus protocols offers multiple levels of privilege of medium access to different types of traffic. Performance evaluation of the priority scheme is essential for design of factory communication networks. An analytical model of the priority scheme has been developed for performance evaluation of the protocol, and this model has been verified by simulation experiments.
{"title":"Analysis of the Priority Scheme in Token Bus Protocols","authors":"S. Hong, A. Ray","doi":"10.23919/ACC.1989.4790245","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790245","url":null,"abstract":"Token bus protocols are widely accepted Medium Access Control (MAC) protocols in Computer Integrated manufacturing (CIM) networks which are designed to accommodate heterogeneous traffic of real-time and non-real-time data. The priority scheme in token bus protocols offers multiple levels of privilege of medium access to different types of traffic. Performance evaluation of the priority scheme is essential for design of factory communication networks. An analytical model of the priority scheme has been developed for performance evaluation of the protocol, and this model has been verified by simulation experiments.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115146117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790203
J. Freudenberg
We discuss the generalized gain-phase relation developed in [1]. The role of gain is taken by a singular value, and that of phase by the phase difference between the associated singular vectors. The integral relation is analogous to that for scalar systems, except for an additional surface integral due to directionality properties. We develop a method for analyzing this surface integral and explaining its presence in intuitive terms. We then apply our results to analyse the design utility of the "phase-transfer" phenomenon noted in [1].
{"title":"Frequency Dependent Tradeoffs in Multivariable Systems","authors":"J. Freudenberg","doi":"10.23919/ACC.1989.4790203","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790203","url":null,"abstract":"We discuss the generalized gain-phase relation developed in [1]. The role of gain is taken by a singular value, and that of phase by the phase difference between the associated singular vectors. The integral relation is analogous to that for scalar systems, except for an additional surface integral due to directionality properties. We develop a method for analyzing this surface integral and explaining its presence in intuitive terms. We then apply our results to analyse the design utility of the \"phase-transfer\" phenomenon noted in [1].","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"289 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115602405","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790482
L. Tassiulas, A. Ephremides
The problem of evacuation in minimum time of a PRN is considered. We decompose the problem into a scheduling problem for one hop neighbor transmissions and a routing problem. We propose an iterative algorithm for the routing problem. Finally we view the routing problem as a sequence of maxflow problems.
{"title":"An Algorithm for Joint Routing and Scheduling in Radio Networks","authors":"L. Tassiulas, A. Ephremides","doi":"10.23919/ACC.1989.4790482","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790482","url":null,"abstract":"The problem of evacuation in minimum time of a PRN is considered. We decompose the problem into a scheduling problem for one hop neighbor transmissions and a routing problem. We propose an iterative algorithm for the routing problem. Finally we view the routing problem as a sequence of maxflow problems.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124363810","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790252
M. Chiu, Y. Arkun
Necessary and sufficient conditions for decentralized stabilizability of a k-channel multiinput-multioutput linear time-invariant, nonsquare and stable plant are presented. The comparisons are made with the available results in the literature. A sequential algorithm for the design of stabilizing DIMC controllers is developed as an application of DBRG stability theory.
{"title":"Parametrization of All Stabilizing Decentralized IMC Controllers and A Sequential Stabilization Procedure","authors":"M. Chiu, Y. Arkun","doi":"10.23919/ACC.1989.4790252","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790252","url":null,"abstract":"Necessary and sufficient conditions for decentralized stabilizability of a k-channel multiinput-multioutput linear time-invariant, nonsquare and stable plant are presented. The comparisons are made with the available results in the literature. A sequential algorithm for the design of stabilizing DIMC controllers is developed as an application of DBRG stability theory.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117124490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790237
Yulun Wang
Today's robots can only perform simple tasks because their control systems have limiting computational capabilities. These control systems are unable to meet the real-time demands of currently existing advanced robot control algorithms. Such algorithms would improve the capabilities and performance of robots. However, they are very numerically intensive. A seond generation processor - the 3-Dimensional Processor (3DP) - has the power to satisfy these computational requirements. A unique architecture, specifically targetted to robot control, exploits the intrinsic structure of robotic algorithms with parallel processing. This paper describes the 3DP architecture and its programming environment, and demonstrates how the 3DP can be applied to robot control.
{"title":"Robot Control using the 3-Dimensional Processor","authors":"Yulun Wang","doi":"10.23919/ACC.1989.4790237","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790237","url":null,"abstract":"Today's robots can only perform simple tasks because their control systems have limiting computational capabilities. These control systems are unable to meet the real-time demands of currently existing advanced robot control algorithms. Such algorithms would improve the capabilities and performance of robots. However, they are very numerically intensive. A seond generation processor - the 3-Dimensional Processor (3DP) - has the power to satisfy these computational requirements. A unique architecture, specifically targetted to robot control, exploits the intrinsic structure of robotic algorithms with parallel processing. This paper describes the 3DP architecture and its programming environment, and demonstrates how the 3DP can be applied to robot control.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121242302","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790296
M. Bromberg, T. Chang, P. Luh
Global optimal solutions for nonconvex problems are found by using the Function Imbedding Technique to imbed a nonconvex function into a higher dimensional convex function so that the original problem can be transformed into the problem of finding the mini-max solution of a related Lagrangian function. The Lagrangian function is chesen so that the associate dual cost function is concave, and so that the global optimal solution can be obtained from the saddle point of the Lagrangian, which can be found using ordinary numerical methods. A general theory is developed for determining when the duality gap vanishes.
{"title":"A Concept for Global Optimization using the Function Imbedding Technique","authors":"M. Bromberg, T. Chang, P. Luh","doi":"10.23919/ACC.1989.4790296","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790296","url":null,"abstract":"Global optimal solutions for nonconvex problems are found by using the Function Imbedding Technique to imbed a nonconvex function into a higher dimensional convex function so that the original problem can be transformed into the problem of finding the mini-max solution of a related Lagrangian function. The Lagrangian function is chesen so that the associate dual cost function is concave, and so that the global optimal solution can be obtained from the saddle point of the Lagrangian, which can be found using ordinary numerical methods. A general theory is developed for determining when the duality gap vanishes.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127366359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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