Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790359
T. Dwyer, Jinho Kim
It is shown in this paper how multiaxial spacecraft tracking and pointing maneuvers, with known control bandwidth and given tracking error bounds, can be implemented by variable structure control, in the presence of uncertain vehicle and target dynamics. To this end, it is shown how to select a nonlinear sliding surface relating attitude and rate variables, as well as a Lyapunov function in the surface variables that absorbs multiplicative model uncertainties, thereby simplifying the computation of control corrections. It is then shown how a boundary layer envelope can be designed, within which the components of the surface error dynamics can be modeled as the outputs of designer-selected decoupled low pass filters. Closed loop stability conditions, accounting for the coupling between the attitude error dynamics and the surface error dynamics are then obtained.
{"title":"Bandwidth-Limited Robust Nonlinear Sliding Control of Pointing and Tracking Maneuvers","authors":"T. Dwyer, Jinho Kim","doi":"10.23919/ACC.1989.4790359","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790359","url":null,"abstract":"It is shown in this paper how multiaxial spacecraft tracking and pointing maneuvers, with known control bandwidth and given tracking error bounds, can be implemented by variable structure control, in the presence of uncertain vehicle and target dynamics. To this end, it is shown how to select a nonlinear sliding surface relating attitude and rate variables, as well as a Lyapunov function in the surface variables that absorbs multiplicative model uncertainties, thereby simplifying the computation of control corrections. It is then shown how a boundary layer envelope can be designed, within which the components of the surface error dynamics can be modeled as the outputs of designer-selected decoupled low pass filters. Closed loop stability conditions, accounting for the coupling between the attitude error dynamics and the surface error dynamics are then obtained.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"37 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":"122618989","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.1989.4790407
J. Chretien
A research program has been conducted for several years at CERT/DERA on a general methodology of control of mechanical flexible structures, and a facility named SECAFLEX has been built in-house to investigate experimentally the various issues of this topic. The goals and the design features of such a set-up are first discussed; the selected architecture - a two degrees of freedom flexible manipulator - is then presented with emphasis on the dimensioning of the actuators to get effective interaction between flexible modes and control. The problems due to in-joint friction and backlash which lead to include local torquemeters are investigated.
{"title":"SECAFLEX : An Experimental Set-Up for the Study of Active Control of Flexible Structures","authors":"J. Chretien","doi":"10.23919/ACC.1989.4790407","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790407","url":null,"abstract":"A research program has been conducted for several years at CERT/DERA on a general methodology of control of mechanical flexible structures, and a facility named SECAFLEX has been built in-house to investigate experimentally the various issues of this topic. The goals and the design features of such a set-up are first discussed; the selected architecture - a two degrees of freedom flexible manipulator - is then presented with emphasis on the dimensioning of the actuators to get effective interaction between flexible modes and control. The problems due to in-joint friction and backlash which lead to include local torquemeters are investigated.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"221 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":"122687702","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: 10.1109/ACC.1989.4173650
A. Feliachi
When dealing with large scale systems, sometimes it is not necessary to estimate the complete state vector. Rather, one might be interested in only some state variables or a linear combination of the state vector which is of smaller dimension than the original system. In this case it is not economical, and maybe, not feasible to design a full order Kalman filter. It is more attractive from at least computational and economical reasons to design a reduced order filter. The objective here is to design such reduced-order filters to estimate a set of desired variables. This problem was addressed by many investigators. For -example, in (1] the authors derived an unbiased filter provided that the desired and the measurable variables satisfy some rank conditions. The procedure presented here is based on an appropriate Ressenberg [21 representation. The desired variables are viewed as the states of a subsystem driven by the interface variables. Additional measurements on these interface variables are required to obtain an unbiased filter. Conditions for the stability of the filter are derived6
{"title":"Reduced Order Estimation","authors":"A. Feliachi","doi":"10.1109/ACC.1989.4173650","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173650","url":null,"abstract":"When dealing with large scale systems, sometimes it is not necessary to estimate the complete state vector. Rather, one might be interested in only some state variables or a linear combination of the state vector which is of smaller dimension than the original system. In this case it is not economical, and maybe, not feasible to design a full order Kalman filter. It is more attractive from at least computational and economical reasons to design a reduced order filter. The objective here is to design such reduced-order filters to estimate a set of desired variables. This problem was addressed by many investigators. For -example, in (1] the authors derived an unbiased filter provided that the desired and the measurable variables satisfy some rank conditions. The procedure presented here is based on an appropriate Ressenberg [21 representation. The desired variables are viewed as the states of a subsystem driven by the interface variables. Additional measurements on these interface variables are required to obtain an unbiased filter. Conditions for the stability of the filter are derived6","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"1 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":"131127081","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.1989.4790522
P. Menon, A. G. Frese
A closed-loop scheme for controlling the speed of solid rocket propelled spacecraft is described. Using a proportional plus integral control law, this scheme superimposes pitch-yaw attitude oscillations on the nominal guidance commands to control the spacecraft speed during the motor burn. Oscillation frequency is selected based on the permissible lateral acceleration magnitude. Feasibility of this approach is demonstrated using a nonlinear point-mass simulation of a typical spacecraft performing an orbit transfer mission. Acceptable accuracies are found to be achievable even with the use of a simple control logic.
{"title":"Velocity Control of Solid Upper Stages Using Attitude Modulation","authors":"P. Menon, A. G. Frese","doi":"10.23919/ACC.1989.4790522","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790522","url":null,"abstract":"A closed-loop scheme for controlling the speed of solid rocket propelled spacecraft is described. Using a proportional plus integral control law, this scheme superimposes pitch-yaw attitude oscillations on the nominal guidance commands to control the spacecraft speed during the motor burn. Oscillation frequency is selected based on the permissible lateral acceleration magnitude. Feasibility of this approach is demonstrated using a nonlinear point-mass simulation of a typical spacecraft performing an orbit transfer mission. Acceptable accuracies are found to be achievable even with the use of a simple control logic.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"44 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":"131270183","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.1989.4790242
P. Chang
We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance measures, namely condition number and manipulability measure allowed to change configurations, causing repeatability problems and discontinuity effects. The new measure, on the other hand, assures that the arm solution remains in the same configuration, thus effectively preventing these problems.
{"title":"A Dexterity Measure for Kinematic Control of Redundant Manipulators","authors":"P. Chang","doi":"10.23919/ACC.1989.4790242","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790242","url":null,"abstract":"We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance measures, namely condition number and manipulability measure allowed to change configurations, causing repeatability problems and discontinuity effects. The new measure, on the other hand, assures that the arm solution remains in the same configuration, thus effectively preventing these problems.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"31 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":"130193443","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.1989.4790609
D. Bernstein, W. Haddad, C. Nett
In part 1 of this two-part paper [1] it was shown that a large class of fixed-structure control laws can be recast as static output feedback controllers for a suitably modified plant. Accordingly, we develop here a comprehensive theory for designing static output feedback controllers. Our results go beyond earlier work by addressing both H2 and H∞ performance criteria and by accounting fully for all of the singularities in the problem formulation. The results are applied to the fixed-order problem (FoP) [1] to obtain a major unification of prior results, namely: the Bernstein-Haddad H2/H∞ fixed-order dynamic compensator theory, the Glover-Doyle full-order H∞ dynamic compensator theory, the Hyland-Bernstein H2 fixed-order dynamic compensator (optimal projection) theory, and the classical LQG theory.
{"title":"Minimal complexity control law synthesis, part 2: problem solution via H2/H∞ optimal static output feedback","authors":"D. Bernstein, W. Haddad, C. Nett","doi":"10.23919/ACC.1989.4790609","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790609","url":null,"abstract":"In part 1 of this two-part paper [1] it was shown that a large class of fixed-structure control laws can be recast as static output feedback controllers for a suitably modified plant. Accordingly, we develop here a comprehensive theory for designing static output feedback controllers. Our results go beyond earlier work by addressing both H<inf>2</inf> and H<sub>∞</sub> performance criteria and by accounting fully for all of the singularities in the problem formulation. The results are applied to the fixed-order problem (FoP) [1] to obtain a major unification of prior results, namely: the Bernstein-Haddad H<sub>2</sub>/H<sub>∞</sub> fixed-order dynamic compensator theory, the Glover-Doyle full-order H<sub>∞</sub> dynamic compensator theory, the Hyland-Bernstein H<sub>2</sub> fixed-order dynamic compensator (optimal projection) theory, and the classical LQG theory.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"11 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":"121784296","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.1989.4790217
Robert F. Stengel, D. A. Stratton
A study of intelligent guidance and control concepts for protecting against the adverse effects of wind shear during aircraft takeoffs and landings is being conducted, with current emphasis on developing an expert system for wind shear avoidance. Principal objectives are to develop methods for assessing the likelihood of wind shear encounter (based on real-time information in the cockpit), for deciding what flight path to pursue (e.g., takeoff abort, landing go-around, or normal climbout or glide slope), and for using the aircraft's full potential for combating wind shear. This study requires the definition of both deterministic and statistical techniques for fusing internal and external information, for making "go/no-go" decisions, and for generating commands to the aircraft's autopilot and flight directors for both automatic and manually controlled flight. The program has begun with the development of the WidShear Safety Advisor, an expert system for pilot aiding that is based on the FAA Windshear Training Aid, a two-volume manual that presents an overview, pilot guide, training program, and substantiating data provides guidelines for this initial development. The WindShear Safety Advisor expert system currently contains over 200 rules and is coded in the LISP programming language.
{"title":"An Expert System for Wind Shear Avoidance","authors":"Robert F. Stengel, D. A. Stratton","doi":"10.23919/ACC.1989.4790217","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790217","url":null,"abstract":"A study of intelligent guidance and control concepts for protecting against the adverse effects of wind shear during aircraft takeoffs and landings is being conducted, with current emphasis on developing an expert system for wind shear avoidance. Principal objectives are to develop methods for assessing the likelihood of wind shear encounter (based on real-time information in the cockpit), for deciding what flight path to pursue (e.g., takeoff abort, landing go-around, or normal climbout or glide slope), and for using the aircraft's full potential for combating wind shear. This study requires the definition of both deterministic and statistical techniques for fusing internal and external information, for making \"go/no-go\" decisions, and for generating commands to the aircraft's autopilot and flight directors for both automatic and manually controlled flight. The program has begun with the development of the WidShear Safety Advisor, an expert system for pilot aiding that is based on the FAA Windshear Training Aid, a two-volume manual that presents an overview, pilot guide, training program, and substantiating data provides guidelines for this initial development. The WindShear Safety Advisor expert system currently contains over 200 rules and is coded in the LISP programming language.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"38 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":"121874186","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: 10.1109/ACC.1989.4173225
S. Rao, M. Mattice, N. Coleman
The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) methodology has been applied to design robust controllers for Turret-Gun Systems. A reduced order design procedure is presented using balanced realization reduced order models. A critical comparison is made between original and reduced order controllers. The performance of the reduced controller is satisfactory.
{"title":"Design of Reduced Order LQG/LTR Controllers for Turret-Gun System","authors":"S. Rao, M. Mattice, N. Coleman","doi":"10.1109/ACC.1989.4173225","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173225","url":null,"abstract":"The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) methodology has been applied to design robust controllers for Turret-Gun Systems. A reduced order design procedure is presented using balanced realization reduced order models. A critical comparison is made between original and reduced order controllers. The performance of the reduced controller is satisfactory.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"36 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":"121244582","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.1989.4790551
H. Oloomi, M. Sawan
H¿ model matching problem (MMP) for single-input/single-output (SISO) two frequency scale (TFS) systems is considered.
研究了单输入/单输出(SISO)双频率标度(TFS)系统的H¿模型匹配问题(MMP)。
{"title":"Suboptimal Model Matching Problem for Two Frequency Scale Transfer Functions","authors":"H. Oloomi, M. Sawan","doi":"10.23919/ACC.1989.4790551","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790551","url":null,"abstract":"H¿ model matching problem (MMP) for single-input/single-output (SISO) two frequency scale (TFS) systems is considered.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"78 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":"127708881","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: 10.1109/ACC.1989.4173509
Ali T. Oxkan, Won-Kyoo Lee
This paper describes adaptive strategies applied to the automatic startup and control of a simulated batch reactor where exothermic reactions take place. The startup switching time is determined online from predictions of the future reactor temperature based on the prediction error model. Then long-range predictive control strategies are designed by incorporating the prediction error model for regulation after the desired reactor temperature is reached during startup. Simulation results are presented to show the feasibility of the proposed adaptive approach for the rapid startup and control of exothermic batch reactors.
{"title":"Adaptive Strategies Applied to Automatic Startup and Control of an Exothermic Batch Reactor","authors":"Ali T. Oxkan, Won-Kyoo Lee","doi":"10.1109/ACC.1989.4173509","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173509","url":null,"abstract":"This paper describes adaptive strategies applied to the automatic startup and control of a simulated batch reactor where exothermic reactions take place. The startup switching time is determined online from predictions of the future reactor temperature based on the prediction error model. Then long-range predictive control strategies are designed by incorporating the prediction error model for regulation after the desired reactor temperature is reached during startup. Simulation results are presented to show the feasibility of the proposed adaptive approach for the rapid startup and control of exothermic batch reactors.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"24 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":"127754106","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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