Pub Date : 2011-09-13DOI: 10.23919/acc.1988.4789710
D. Caughlin, T. Bullock
This paper presents the results of a linear control technique developed for fixed-final-time constrained systems and applied to preferred axis homing missiles. This technique accommodated the nonlinearities, constraints, and the modeling errors of a suboptimal linear design to maintain the target within the missile reachable set. This feature minimized miss distances, and prevented control saturation during the terminal portion of the trajectory.
{"title":"Reachable Set Control For Preferred Axis Homing Missiles","authors":"D. Caughlin, T. Bullock","doi":"10.23919/acc.1988.4789710","DOIUrl":"https://doi.org/10.23919/acc.1988.4789710","url":null,"abstract":"This paper presents the results of a linear control technique developed for fixed-final-time constrained systems and applied to preferred axis homing missiles. This technique accommodated the nonlinearities, constraints, and the modeling errors of a suboptimal linear design to maintain the target within the missile reachable set. This feature minimized miss distances, and prevented control saturation during the terminal portion of the trajectory.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79946924","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 : 1988-06-15DOI: 10.1109/ACC.1988.4172951
R. W. Beekmann, K. Y. Lee
A unified approach to a robust robotic control design which retains all the nonlinearities inherent in the dynamics is developed for motor-robot configuration considered as an interacting system. This control system design, based on decomposition and Freund's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approach is in contrast to the conventional treatment of the motor as a pure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism.
{"title":"Nonlinear Robotic Control Including Drive Motor Interactions","authors":"R. W. Beekmann, K. Y. Lee","doi":"10.1109/ACC.1988.4172951","DOIUrl":"https://doi.org/10.1109/ACC.1988.4172951","url":null,"abstract":"A unified approach to a robust robotic control design which retains all the nonlinearities inherent in the dynamics is developed for motor-robot configuration considered as an interacting system. This control system design, based on decomposition and Freund's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approach is in contrast to the conventional treatment of the motor as a pure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73843848","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 : 1988-06-15DOI: 10.23919/ACC.1988.4789941
A. Calise, J. Corban, G. Flandro
The problem of on-board trajectory optimization for an airbreathing, single-stage-to-orbit vehicle is examined. A simple model representative of the aerospace plane concept, including a dual-mode propulsion system composed of SCRAMJET and rocket engines, is presented. Consideration is restricted to hypersonic flight within the atmosphere. An energy state approximation is employed in a four-state model for flight of a point mass in a vertical plane. Trajectory constraints, including those of dynamic pressure and aerodynamic heating, are initially ignored. Singular perturbation methods are applied in solving the optimal control problem of minimum fuel climb. The resulting reduced solution for the energy state dynamics provides an optimal altitude profil1e dependent on energy level and control for rocket thrust. A boundary-layer analysis produces an approximate lift control solution in feedback form and accounts for altitude and flight path angle dynamics. The reduced solution optimal climb path is presented for the unconstrained case and the case for which a maximum dynamic pressure constraint is enforced.
{"title":"Trajectory Optimization and Guidance Law Development for National Aerospace Plane Applications","authors":"A. Calise, J. Corban, G. Flandro","doi":"10.23919/ACC.1988.4789941","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789941","url":null,"abstract":"The problem of on-board trajectory optimization for an airbreathing, single-stage-to-orbit vehicle is examined. A simple model representative of the aerospace plane concept, including a dual-mode propulsion system composed of SCRAMJET and rocket engines, is presented. Consideration is restricted to hypersonic flight within the atmosphere. An energy state approximation is employed in a four-state model for flight of a point mass in a vertical plane. Trajectory constraints, including those of dynamic pressure and aerodynamic heating, are initially ignored. Singular perturbation methods are applied in solving the optimal control problem of minimum fuel climb. The resulting reduced solution for the energy state dynamics provides an optimal altitude profil1e dependent on energy level and control for rocket thrust. A boundary-layer analysis produces an approximate lift control solution in feedback form and accounts for altitude and flight path angle dynamics. The reduced solution optimal climb path is presented for the unconstrained case and the case for which a maximum dynamic pressure constraint is enforced.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73890831","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 : 1988-06-15DOI: 10.23919/ACC.1988.4790112
R. Doraiswami, C. Diduch
The zero order hold discrete time equivalent of a multivariable plant with delays in the input and output is derived. It is proven that the discrete equivalent is both observable and controllable if, (i) the discrete time equivalent with zero delay is both observable and controllable, (ii) the number of plant inputs and outputs is equal and (iii) there are no transmission zeros at the origin. These are important considerations when embarking on a digital control system design in which implementation delays are to be included with the discrete plant model.
{"title":"Discrete Equivalent of Multivariable Plants with Input and Output Delays","authors":"R. Doraiswami, C. Diduch","doi":"10.23919/ACC.1988.4790112","DOIUrl":"https://doi.org/10.23919/ACC.1988.4790112","url":null,"abstract":"The zero order hold discrete time equivalent of a multivariable plant with delays in the input and output is derived. It is proven that the discrete equivalent is both observable and controllable if, (i) the discrete time equivalent with zero delay is both observable and controllable, (ii) the number of plant inputs and outputs is equal and (iii) there are no transmission zeros at the origin. These are important considerations when embarking on a digital control system design in which implementation delays are to be included with the discrete plant model.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75194447","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 : 1988-06-15DOI: 10.23919/ACC.1988.4790094
J. Elder, R. Barron
Modern military aircraft undergo rapid and often unpredictable changes in dynamics during flight. Though curent control system design techniques may be adequate to handle the range of flight conditions and maneuvers demanded, further compensation for system malfunctions and/or battle damage has heretofore been extremely difficult - unless one has accepted significant performance penalties at each operating point to obtain a very conservative control solution that can deal with awide range of potential impairments. What is needed is a method for developing simple, robust, high-performance control systems that vary in real time with operating and fault condition changes in the system being controlled; that is, that "reconfigure" rapidly to face rapidly changing conditions. The "super-controller" strategy, outlined here, shows promise of meeting this need. This paper describes the super-controller design technique and preliminary simulation results based upon single and multiple simultaneous effector impairments of a control reconfigurable combat aircraft (CRCA).
{"title":"Automated Design of Continuously-Adaptive Control: The \"Super-Controller\" Strategy for Reconfigurable Systems","authors":"J. Elder, R. Barron","doi":"10.23919/ACC.1988.4790094","DOIUrl":"https://doi.org/10.23919/ACC.1988.4790094","url":null,"abstract":"Modern military aircraft undergo rapid and often unpredictable changes in dynamics during flight. Though curent control system design techniques may be adequate to handle the range of flight conditions and maneuvers demanded, further compensation for system malfunctions and/or battle damage has heretofore been extremely difficult - unless one has accepted significant performance penalties at each operating point to obtain a very conservative control solution that can deal with awide range of potential impairments. What is needed is a method for developing simple, robust, high-performance control systems that vary in real time with operating and fault condition changes in the system being controlled; that is, that \"reconfigure\" rapidly to face rapidly changing conditions. The \"super-controller\" strategy, outlined here, shows promise of meeting this need. This paper describes the super-controller design technique and preliminary simulation results based upon single and multiple simultaneous effector impairments of a control reconfigurable combat aircraft (CRCA).","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75880094","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 : 1988-06-15DOI: 10.1109/ACC.1988.4172762
J. Krause, P. Khargonekar
Motivated by uncertainty characterizations often appearing in robust control literature, we treat parameter identification in the presence of nonparametric weighted-ball-in-H¿ unmodelled dynamics, as well as induced-L2-norm-bounded unmodelled dynamics. A deterministic notion of information is presented and utilized. A robust parameter adjustment law is stated, and monotonic parameter error reduction is proven, with strict monotonicity whenever the information is strictly positive.
{"title":"Robust Parameter Adjustment","authors":"J. Krause, P. Khargonekar","doi":"10.1109/ACC.1988.4172762","DOIUrl":"https://doi.org/10.1109/ACC.1988.4172762","url":null,"abstract":"Motivated by uncertainty characterizations often appearing in robust control literature, we treat parameter identification in the presence of nonparametric weighted-ball-in-H¿ unmodelled dynamics, as well as induced-L2-norm-bounded unmodelled dynamics. A deterministic notion of information is presented and utilized. A robust parameter adjustment law is stated, and monotonic parameter error reduction is proven, with strict monotonicity whenever the information is strictly positive.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75400434","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 : 1988-06-15DOI: 10.23919/ACC.1988.4789789
P. Antsaklis, K. Passino, S.J. Wang
Autonomous control systems must perform well under significant uncertainties in the plant and the environment for extended periods of time and they must be able to compensate for system failures without external intervention. Such control systems evolve from conventional control systems and their development requires interdisciplinary research. A hierarchical functional autonomous control architecture is introduced here and its functions are described in detail. The fundamental issues in autonomous control system modelling and analysis are discussed.
{"title":"Autonomous Control Systems: Architecture and Fundamental Issues","authors":"P. Antsaklis, K. Passino, S.J. Wang","doi":"10.23919/ACC.1988.4789789","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789789","url":null,"abstract":"Autonomous control systems must perform well under significant uncertainties in the plant and the environment for extended periods of time and they must be able to compensate for system failures without external intervention. Such control systems evolve from conventional control systems and their development requires interdisciplinary research. A hierarchical functional autonomous control architecture is introduced here and its functions are described in detail. The fundamental issues in autonomous control system modelling and analysis are discussed.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74324567","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 : 1988-06-15DOI: 10.23919/ACC.1988.4789741
A. Morse
It is demonstrated that strict adherence to the Certainty-Equivalence Principle of indirect control is unnecessarily limiting. It is shown that only by discarding one of the principle's main tenets is it possible to obtain with indirect control, algorithms comparable to the classical algorithms of direct control. Two new indirect adaptive control algorithms are developed; each is applicable to processes satisfying exactly the same assumptions required by the classical algorithms of direct adaptive control.
{"title":"Indirect Adaptive Control of Processes Satisfying the Classical Assumptions of Direct Adaptive Control","authors":"A. Morse","doi":"10.23919/ACC.1988.4789741","DOIUrl":"https://doi.org/10.23919/ACC.1988.4789741","url":null,"abstract":"It is demonstrated that strict adherence to the Certainty-Equivalence Principle of indirect control is unnecessarily limiting. It is shown that only by discarding one of the principle's main tenets is it possible to obtain with indirect control, algorithms comparable to the classical algorithms of direct control. Two new indirect adaptive control algorithms are developed; each is applicable to processes satisfying exactly the same assumptions required by the classical algorithms of direct adaptive control.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78804803","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 : 1988-06-15DOI: 10.23919/ACC.1988.4790138
M. Fu, B. Barmish
In Bartlett, Hollot and Lin [2], a fundamental result is established on the zero locations of a family of polynomials. It is shown that the zeros of a polytope P of n-th order real polynomials is contained in a simply connected region D if and only if the zeros of all polynomial along the exposed edges of P are contained in D. This paper is motivated by the fact that the requirement of simple connectedness of D may be too restrictive in applications such as dominant pole assignment and filter design where the separation of zeros is required. In this paper, we extend the "edge criterion" in [2] to handle any region D whose complement Dc has the following property: Every point d Dc lies on some continuous path which remains within Dc and is unbounded. This requirement is typically verified by inspection and allows for a large class of disconnected regions. We also allow for polynomials with complex coefficients.
{"title":"Polytopes of Polynomials with Zeros in a Prescribed Region","authors":"M. Fu, B. Barmish","doi":"10.23919/ACC.1988.4790138","DOIUrl":"https://doi.org/10.23919/ACC.1988.4790138","url":null,"abstract":"In Bartlett, Hollot and Lin [2], a fundamental result is established on the zero locations of a family of polynomials. It is shown that the zeros of a polytope P of n-th order real polynomials is contained in a simply connected region D if and only if the zeros of all polynomial along the exposed edges of P are contained in D. This paper is motivated by the fact that the requirement of simple connectedness of D may be too restrictive in applications such as dominant pole assignment and filter design where the separation of zeros is required. In this paper, we extend the \"edge criterion\" in [2] to handle any region D whose complement Dc has the following property: Every point d Dc lies on some continuous path which remains within Dc and is unbounded. This requirement is typically verified by inspection and allows for a large class of disconnected regions. We also allow for polynomials with complex coefficients.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76575396","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 : 1988-06-15DOI: 10.23919/ACC.1988.4790035
Edward F. Crawley, J. Luis, N. Hagood, Eric H. Anderson
This work presents analytical techniques, with experimental results for use with piezoelectric actuators as elements of intelligent structres. Mechanical models for the interaction of piezoelectrics with one- and two-dimensional structures are derived. In addition, a model coupling the electrical and mechanical properties of the piezoelectric is presented. This model is used to derive optimal resistive and tuned electrical circuits to maximize energy dissipation in the structure. These results are implemented on a prototype space-truss. Finally, a technique for embedding piezoelectrics inside laminated composite structures is presented.
{"title":"Development of Piezoelectric Technology for Applications in Control of Intelligent Structures","authors":"Edward F. Crawley, J. Luis, N. Hagood, Eric H. Anderson","doi":"10.23919/ACC.1988.4790035","DOIUrl":"https://doi.org/10.23919/ACC.1988.4790035","url":null,"abstract":"This work presents analytical techniques, with experimental results for use with piezoelectric actuators as elements of intelligent structres. Mechanical models for the interaction of piezoelectrics with one- and two-dimensional structures are derived. In addition, a model coupling the electrical and mechanical properties of the piezoelectric is presented. This model is used to derive optimal resistive and tuned electrical circuits to maximize energy dissipation in the structure. These results are implemented on a prototype space-truss. Finally, a technique for embedding piezoelectrics inside laminated composite structures is presented.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79943647","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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