Transcript Document

Aerospace Control Research at
the Ohio State University
Aerospace Engineering
Department
Rama K. Yedavalli
Professor
Department of Aerospace Engineering
The Ohio State University
Columbus, OH
Oct 11,2006
Outline
 Overview of Current Research Projects
 Possible Collaborative Avenues
 Conclusions
Current (and Past) Research
Projects
Qualitative
Stability
(Active, unfunded)
Chemotherapy
Drug Delivery
(Active,unfunded)
CCCS
Flight Control
(past)
CCCS
Flow Control
(past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(past)
Current Research Projects
Qualitative
Stability
(Active,unfunded)
Chemotherapy
Drug Delivery
(Active,unfunded)
CCCS
Flight Control
(past)
CCCS
Flow Control
(past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(past)
CCCS: Flight Control (2001-2004)
Control
Allocation
Dynamic
Inversion
SDRE
Redesign
• Robustness Analysis of the X-40A Dynamic Inversion Controller
• Implementation of combined Dynamic Inversion - State Dependent
Riccati Equation Technique
• Stability Domain Estimation (Region of Attraction)
• Method of Vector Norms
• Sum of Squares Programming
CCCS: Flight Control
 Graduate Student: Praveen Shankar
– Funded by CCCS from Oct 2001 – Sept 2004
 Publications:
– P. Shankar, R.K. Yedavalli, D.B. Doman “Stability Domain
Estimation for Dynamic Inversion Embedded SDRE Flight
Controller”, Proceedings of AIAA-GNC Conference 2004,
Providence, RI
– P. Shankar, R.K. Yedavalli, D.B. Doman “Dynamic Inversion
via State Dependent Riccati Equation Approach: Application to
Hypersonic Vehicles”, Proceedings of AIAA-GNC Conference
2003, Austin, TX
– R.K. Yedavalli, P. Shankar, D.B. Doman “Robustness Study of a
Dynamic Inversion Based Indirect Adaptive Control System for
Flight Vehicles with Uncertain Model Data”, Proceedings of
IEEE ACC Conference 2003
Current Research Projects
Qualitative
Stability
(Active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(Past)
CCCS
Flow Control
(Past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(Past)
CCCS: Flow Control (2001-2004)
 Model Reduction for Cavity Flow Control System
 Component Cost Analysis and Principal Component Analysis
 Proper Orthogonal Decomposition and Galerkin projection
 Nonlinear Model Reduction
 Cavity Flow Control
M
U
W
D
L
Current Research Projects
Qualitative
Stability
(Active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(Past)
CCCS
Flow Control
(Past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(Past)
NASA Dryden (2004-2006)
Reference
Model
ωdes
PI
Controller
ω
Neural
Network
Dynamic
Inversion
F-15
Control
Allocator
δ
 Current Research:
– Implementation of Growing Radial Basis Function Neural Network to minimize
error due to modeling and failures in control surfaces
– Successfully implemented for F-15 Dynamic Inversion Controller and F-18
Robust LQR Tracker
– To be implemented on piloted simulation at NASA Dryden
 Future Research:
– Design of Adaptive Critic (Neural Network with Reinforcement Learning) for
reference model adaptation during critical failure
NASA Dryden
 Graduate Student: Praveen Shankar
– Funded by NASA Dryden
– Ph.D. defense in Spring’07
– Praveen won the prestigious AIAA Orville Wright
Graduate Student Award this year
Current Research Projects
Qualitative
Stability
(Active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(Past)
CCCS
Flow Control
(Past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(Past)
NASA Glenn / GEAE (2005-2006)
 Development of Model-predictive Engine Control to
adapt to
– Engine degradation
– Engine-to-engine variation
– System faults
 Development of Estimation techniques (Collaboration
with GE)
– Estimation of unmeasured parameters: Thrust and Stall
Margin
– Improved accuracy and robustness to system faults
NASA Glenn / GEAE (2005-2006)
 Application of model based control strategies for
engine control
 Application of model based diagnostic techniques
– Sensor fault detection and isolation in Turbine Engine
simulation model using Neural Networks and bank of
Kalman Filters
 Application of model based prognostic techniques
to Turbine Engine simulation model
NASA Glenn / GEAE (2005-2006)
 Paper published in Turbo Expo ’06 in Barcelona
 Another paper on Engine Fault Detection using
Dynamic/Adaptive Threshold under review for
Turbo Expo’07 in Montreal
Current Research Projects
Qualitative
Stability
(Active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(Past)
CCCS
Flow Control
(Pastt)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(Past)
AFRL / PR /UTC (2004-2005)
 Turbine Engine Control,
Health Management,
Diagnostics and Prognostics
 Nonlinear transient simulation
model development of Turbine
Engine using Matlab/Simulink
 Application of model based control strategies for engine control
 Application of model based diagnostic techniques
– Sensor fault detection and isolation in Turbine Engine simulation
model using Neural Networks and bank of Kalman Filters
 Application of model based prognostic techniques to Turbine
Engine simulation model
AFRL / PR/UTC (2004-2005)
 Graduate Student: Majid Siddiqi
– Funded by UTC from January 2004 – June 2005
– R.K. Yedavalli, M. Siddiqi, A.Behbahani, “Modelbased Prognostics of Turbine Engines for Predicting
Blade Cracks”, paper to be presented at the 41st
AIAA/ASME/SAE/ASEE Joint Propulsion
Conference & Exhibit
Current Research Projects
Qualitative
Stability
(Active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(Past)
CCCS
Flow Control
(Past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(Past)
STTR
 Development of hardware and software algorithms to
provide autonomous flying capability for formation of
manned rotorcraft vehicles
 Implementation of Robust LQR tracker with artificial
intelligence for pattern recognition
 Use of GPS and wireless communication
Current Research Projects
Qualitative
Stability
(Active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(Past)
CCCS
Flow Control
(Past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(past)
US Army (2006-2009)
 Robust Stability and Control of
Multi-body Ground Vehicles
under Uncertainty and Failures
 Ground Vehicle Dynamics
– Rollover stability
– Ride and Handling
Performance
– Stability under failures
 Efforts to Collaborate with
TARDEC in Warren, MI
Robust Stability and Control of Multibody Ground Vehicles (ARO)’06-’09
Robust Stability and Control of Multibody Ground Vehicles (ARO) ’06-’09
 Develop a control algorithm for the steering command as
a feedback of roll rate, scheduled in terms of forward
velocity v and c.g height differential h.
 Develop a `robust’ control law that will perform well in as
wide velocity range as possible and in as wide changes in
the cg height as possible.
 The problem is challenging because the parameter values
vary significantly as a function of the operating condition
 So innovative feedback control schemes are needed to
improve the performance of the vehicle in the presence of
all these real life perturbations and even in component
failures.
Current Research Projects
Qualitative
Stability
(active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(past)
CCCS
Flow Control
(past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR/UTC
(past)
Chemotherapy Drug Delivery
 Application of uncertain linear systems control theory
with structured uncertainty to drug delivery schedule
relating clinical information in cancer chemotherapy
α
P
Q
β
Cycling Cells
δ
T/a
Resting Cells
λ
 dP(t ) 

        sf (t )
  P 
dt

  
 
dQ
(
t
)






 
 Q 


 dt 
dose
γ
a
time
T
Current Research Projects
Qualitative
Stability
(active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(past)
CCCS
Flow Control
(past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(Current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(past)
Qualitative (Sign) Stability of
Ecology (Need Sponsorship)
 Application of concepts of biology and life science to
engineering systems: Qualitative (sign) stability and
Robust stability (ACC’06)
Qualitative (Sign) Stability of
Ecology (Need Sponsorship)
 Given a matrix with only +, - and 0s (no magnitudes),
get necessary and sufficient conditions for Hurwitz
stability using ideas from Ecology (ACC’06,
ROCOND’06)
 Matrices which are sign stable are Hurwitz stable
for any magnitudes we put in those locations!
 But the converse is not true
 Using Sign Stability of Ecology, can tabulate all the
2x2, 3x3 and 4x4 matrices which are sign stable
`apriori’! Extremely interesting and amazing !
New Control Design Method using
Sign Stability of Ecology
 Controllers designed using Sign Stability ideas are
Robust and Nonfragile (under review for ACODS’07)
 They produce Controllers of Reduced Dimension and
Reduced Control Effort because they `work’ with the
natural dynamics rather than `fight’ with it.
 Examples of Control Design Using Sign Stability
include Satellite Attitude Control and Formation Flying
Control
 Sign Stability based Controller highly superior to Pole
Placement and LQR controllers
Current Research Projects
Qualitative
Stability
(active,unfunded)
Chemotherapy
Drug Delivery
(Active)
CCCS
Flight Control
(Past)
CCCS
Flow Control
(past)
NASA
Dryden
(Current)
Current
Research
Activities
NASA
Glenn / GEAE
(Current)
US Army
(current)
STTR/SBIR
(trying)
Uncertain
Systems
Research (Active)
AFRL/PR
(past)
Uncertain Systems Research
(active)
 New Technique for Robust Stability Analysis of
Families of Linear State Space Systems
– Application to Stability Analysis of Flight Dynamics
under Uncertain Parameters
– Application to Determination of Drug Delivery
Schedule for Cancer Chemotherapy Models with
Uncertain Pharmacokinetic parameters
– Application to Multibody Ground Vehicles with
Uncertain Dynamics and Failures
– Applications possible in Engineering Dynamic
Systems in various disciplines
Possible Collaborative Avenues
 Qualitative (sign) Stability concept from Ecology and its
role in Uncertain Engineering Systems
– Need sponsorship of this important research
 Possible continued research in Turbine Engine Fault
Diagnostics and Health management
– Dialogue with NASA Glenn and Engine Companies
 Possible Continued Research in Stability and Robustness
Guarantees for Neural Network Based Nonlinear Flight
Controllers
– NASA NRA under review
 Will be able contribute in SBIR/STTR efforts
Conclusions
 Engaged actively in varied research projects
 Avenues available for collaboration
 Vibrant graduate student body (Currently have 5
Ph.D students and one Masters student)
 Expect continued research activity