Lecture Notes in Control and Information Sciences, Sep 17, 2015
This chapter describes recent advancements in the areas of guidance, navigation, and control of d... more This chapter describes recent advancements in the areas of guidance, navigation, and control of distributed spacecraft systems or spacecraft formation flying of swarms of 100-gram class spacecraft and planetary landing. A review of advances in perception technologies for on-board hazard detection and terrain relative navigation is presented. The second part of this chapter is devoted to the discussion of innovative research on spacecraft swarms. Spacecraft swarms, comprised of hundreds to thousands of small spacecraft will push the frontier of the existing formation flying concepts by maximizing the benefits of distributed spacecraft systems. Novel control strategies of handling such a large spacecraft network are presented by employing synchronization control on adaptive graphs and probabilistic swarm guidance strategies. Furthermore, new filtering techniques that enable tracking of a large number of space objects are discussed.
Allerton Conference on Communication, Control, and Computing, 1979
Singular perturbation methods are used to derive nonlinear feedback control laws for aircraft min... more Singular perturbation methods are used to derive nonlinear feedback control laws for aircraft minimum time long range interception under the assumption of complete time scale separation. The resulting algorithms are in feedback form and can be implemented on a microcomputer for on-line trajectory optimization.
In this paper, we introduce a decentralized fusion and tracking based on a distributed multi-sour... more In this paper, we introduce a decentralized fusion and tracking based on a distributed multi-source multitarget filtering and robust communication with the following features: (i) data reduction; (ii) a disruption tolerant dissemination procedure that takes advantage of storage and mobility; and (iii) efficient data set reconciliation algorithms. We developed and implemented complex high-fidelity marine application demonstration of this approach that encompasses all relevant environmental parameters. In the simulated example, multi-source information is fused by exploiting sensors from disparate Unmanned Underwater Vehicles (UUV) and Unmanned Surface Vehicle (USV) multi-sensor platforms. Communications among the platforms are continuously establishing and breaking depending on the time-changing geometry. We compare and evaluate the developed algorithms by assessing their performance against different scenarios.
IEEE Transactions on Automatic Control, Jul 1, 1975
The purpose of this note is to study the phenomenon of ignition of paper considered by Shivadev a... more The purpose of this note is to study the phenomenon of ignition of paper considered by Shivadev and Emmons from the viewpoint of stability theory and catastrophe theory. It is shown that ignition results from a sudden or catastrophic change of the kinetics governing temperature from a locally stable to a locally unstable equation. Using the model of Shivadev and Emmons and the above criterion, equations for the ignition temperature and the corresponding heat flux are derived. These equations are shown to provide a good match to the experimental data of Reference. Further extensions of this work to combustion and the appearance of cusp catastrophes are also discussed.
Although the basic mechanism governing the operation of electric arc furnaces is reasonably under... more Although the basic mechanism governing the operation of electric arc furnaces is reasonably understood, adequate dynamic control of these systems to insure efficient operation has not been fully achieved. This can be attributed to the fact that the steelmaking process is nonlinear and restricted by numerous operational and control constraints. Also, the arc furnace characteristics vary within a melt cycle
In multi-hypothesis target tracking, given the time-predicted tracks, we consider the sensor mana... more In multi-hypothesis target tracking, given the time-predicted tracks, we consider the sensor management problem of directing the sensors' Field of View (FOV) in such a way that the targets detection rate is improved. Defining a (squared) distance between a sensor and a track as the (squared) Euclidean distance between the centers of their respective Gaussian distributions, weighted by the sum of the covariance matrices, the problem is formulated as the minimization of the Hausdorff distance from the set of tracks to the set of sensors. An analytical solution for the single sensor case is obtained, and is extended to the multiple sensors case. This extension is achieved by performing the following: (1) It is first proved that for an optimal solution, there exists a partition of the set of tracks into subsets, and an association of each subset with a sensor, such that each subset-sensor pair is optimal in the Hausdorff distance sense; (2) a brute force search is then conducted to check all possible subset-partitions of the tracks as well as the permutations of sensors; (3) for each subset-sensor pair, the optimal solution is obtained analytically; and (4) the configuration with the smallest Hausdorff distance is declared as the optimal solution for the given multi-target multi-sensor problem. Some well established loopless algorithms for generating set partitions and permutations are implemented to reduce the computational complexity. A simulation result demonstrating the proposed sensor management algorithm is also presented.
Detection and tracking of dim targets in heavy clutter environments is a daunting theoretical and... more Detection and tracking of dim targets in heavy clutter environments is a daunting theoretical and practical problem. Application of the recently developed Background Agnostic Cardinalized Probability Hypothesis Density (BA-CPHD) filter provides a very promising approach that adequately addresses all the complexities and the nonlinear nature of this problem. In this paper, we present analysis, derivation, development, and application of a BA-CPHD implementation for tracking dim ballistic targets in environments with a range of unknown clutter rates, unknown clutter distribution, and unknown target probability of detection. The effectiveness and accuracy of the implemented algorithms are assessed and evaluated. Results that evaluate and also demonstrate the specific merits of the proposed approach are presented.
For the last two years at this conference, we have described the implementation of a unified, sci... more For the last two years at this conference, we have described the implementation of a unified, scientific approach to performance measurement for data fusion algorithms based on FINITE-SET STATISTICS (FISST). FISST makes it possible to directly extend Shannon-type information metrics to multisource, multitarget problems. In previous papers we described application of information Measures of Effectiveness (MoEs) to multisource-multitarget data fusion and to non-distributed sensor management. In this follow-on paper we show how to generalize this work to DISTRIBUTED sensor management and ADAPTIVE DATA FUSION.
This paper discusses the application of a generalized identification method for flight test data ... more This paper discusses the application of a generalized identification method for flight test data analysis. The method is based on the maximum likelihood (ML) criterion and includes output error and equation error methods as special cases. Both the linear and nonlinear models with and without process noise are considered. The flight test data from lateral maneuvers of HL-10 and M2/F3 lifting bodies are processed to determine the lateral stability and control derivatives, instrumentation accuracies and biases. A comparison is made between the results of the output error method and the generalized ML method for M2/F3 data containing gusts. It is shown that better fits to time histories are obtained by using the generalized ML method.
Active control of aeromechanical instability such as ground and air resonances involves designing... more Active control of aeromechanical instability such as ground and air resonances involves designing controllers that provide stability over a wide range of rotor speeds subject to safety constraints on rotor tip displacement and saturation constraints on actuator inputs. In this paper, we formulate this as an L the 2, y and z components of the hub displacement, velocity, and acceleration are used as measurements. Numerical results show that .controller provides uniform exponential stability and other time domain requirements in the *This research was supported by NASA Ames Research Center under contract NAS2-98022. We gratefully acknowledge support from our technical monitor Stephen Jacklin of NASA Ames. . , 4’ R. L. Bennett Bell Helicopter Textron Inc. P. 0. Box 482 Fort Worth, TX 76101 DBennet@bellhelicopter.textron.com presence of parametric uncertainty and exogenous inputs.
... P. tkreau ADEFsA/L/GEBBIOS 53 Av. de l'lurope 78140 Velizy France D. Guillaume S... more ... P. tkreau ADEFsA/L/GEBBIOS 53 Av. de l'lurope 78140 Velizy France D. Guillaume SFENA BP .59 78140 Velizy France Abstract ... 1. 2. 3. 4. References Richalet, J., A. Rault, JL Testud and J. Papon (1976), "Algorithm Control of Industrial Processes," 4th IFAC Symp. ...
Pilot-Induced Oscillation (PIO) is an instability resulting from the dynamic interaction between ... more Pilot-Induced Oscillation (PIO) is an instability resulting from the dynamic interaction between the pilot and the aircraft. In this paper, we present a general framework for the analysis of nonlinear PIO. The approach involves the computation of nonlinear phenomena such as Hopf bifurcation that lead to large changes in structural stability of the Pilot-Vehicle System (PVS). Flying qualities cliffs are associated with these nonlinear phenomena. Since PVS is a forced system, standard bifurcation analysis techniques are not directly applicable to the PIO problem. This difficulty is circumvented by augmenting the PVS dynamics with an asymptoticall y stable nonlinear oscillator. As examples, the X-15 PIO caused by ratelimiting and an F/A-18 PIO caused by nonlinear Category III triggers are considered. We computed limit cycle amplitudes as a function
Page 125. The Fighter Aircraft LCS: A Real-World, Machine Innovation Application RE Smith1, A. El... more Page 125. The Fighter Aircraft LCS: A Real-World, Machine Innovation Application RE Smith1, A. El-Fallah, B. Ravichandran, RK Mehra2, BA Dike3 1 Faculty of Computing, Engineering, and Mathematical Sciences The University of The West of England, Bristol, UK robert. ...
Lecture Notes in Control and Information Sciences, Sep 17, 2015
This chapter describes recent advancements in the areas of guidance, navigation, and control of d... more This chapter describes recent advancements in the areas of guidance, navigation, and control of distributed spacecraft systems or spacecraft formation flying of swarms of 100-gram class spacecraft and planetary landing. A review of advances in perception technologies for on-board hazard detection and terrain relative navigation is presented. The second part of this chapter is devoted to the discussion of innovative research on spacecraft swarms. Spacecraft swarms, comprised of hundreds to thousands of small spacecraft will push the frontier of the existing formation flying concepts by maximizing the benefits of distributed spacecraft systems. Novel control strategies of handling such a large spacecraft network are presented by employing synchronization control on adaptive graphs and probabilistic swarm guidance strategies. Furthermore, new filtering techniques that enable tracking of a large number of space objects are discussed.
Allerton Conference on Communication, Control, and Computing, 1979
Singular perturbation methods are used to derive nonlinear feedback control laws for aircraft min... more Singular perturbation methods are used to derive nonlinear feedback control laws for aircraft minimum time long range interception under the assumption of complete time scale separation. The resulting algorithms are in feedback form and can be implemented on a microcomputer for on-line trajectory optimization.
In this paper, we introduce a decentralized fusion and tracking based on a distributed multi-sour... more In this paper, we introduce a decentralized fusion and tracking based on a distributed multi-source multitarget filtering and robust communication with the following features: (i) data reduction; (ii) a disruption tolerant dissemination procedure that takes advantage of storage and mobility; and (iii) efficient data set reconciliation algorithms. We developed and implemented complex high-fidelity marine application demonstration of this approach that encompasses all relevant environmental parameters. In the simulated example, multi-source information is fused by exploiting sensors from disparate Unmanned Underwater Vehicles (UUV) and Unmanned Surface Vehicle (USV) multi-sensor platforms. Communications among the platforms are continuously establishing and breaking depending on the time-changing geometry. We compare and evaluate the developed algorithms by assessing their performance against different scenarios.
IEEE Transactions on Automatic Control, Jul 1, 1975
The purpose of this note is to study the phenomenon of ignition of paper considered by Shivadev a... more The purpose of this note is to study the phenomenon of ignition of paper considered by Shivadev and Emmons from the viewpoint of stability theory and catastrophe theory. It is shown that ignition results from a sudden or catastrophic change of the kinetics governing temperature from a locally stable to a locally unstable equation. Using the model of Shivadev and Emmons and the above criterion, equations for the ignition temperature and the corresponding heat flux are derived. These equations are shown to provide a good match to the experimental data of Reference. Further extensions of this work to combustion and the appearance of cusp catastrophes are also discussed.
Although the basic mechanism governing the operation of electric arc furnaces is reasonably under... more Although the basic mechanism governing the operation of electric arc furnaces is reasonably understood, adequate dynamic control of these systems to insure efficient operation has not been fully achieved. This can be attributed to the fact that the steelmaking process is nonlinear and restricted by numerous operational and control constraints. Also, the arc furnace characteristics vary within a melt cycle
In multi-hypothesis target tracking, given the time-predicted tracks, we consider the sensor mana... more In multi-hypothesis target tracking, given the time-predicted tracks, we consider the sensor management problem of directing the sensors' Field of View (FOV) in such a way that the targets detection rate is improved. Defining a (squared) distance between a sensor and a track as the (squared) Euclidean distance between the centers of their respective Gaussian distributions, weighted by the sum of the covariance matrices, the problem is formulated as the minimization of the Hausdorff distance from the set of tracks to the set of sensors. An analytical solution for the single sensor case is obtained, and is extended to the multiple sensors case. This extension is achieved by performing the following: (1) It is first proved that for an optimal solution, there exists a partition of the set of tracks into subsets, and an association of each subset with a sensor, such that each subset-sensor pair is optimal in the Hausdorff distance sense; (2) a brute force search is then conducted to check all possible subset-partitions of the tracks as well as the permutations of sensors; (3) for each subset-sensor pair, the optimal solution is obtained analytically; and (4) the configuration with the smallest Hausdorff distance is declared as the optimal solution for the given multi-target multi-sensor problem. Some well established loopless algorithms for generating set partitions and permutations are implemented to reduce the computational complexity. A simulation result demonstrating the proposed sensor management algorithm is also presented.
Detection and tracking of dim targets in heavy clutter environments is a daunting theoretical and... more Detection and tracking of dim targets in heavy clutter environments is a daunting theoretical and practical problem. Application of the recently developed Background Agnostic Cardinalized Probability Hypothesis Density (BA-CPHD) filter provides a very promising approach that adequately addresses all the complexities and the nonlinear nature of this problem. In this paper, we present analysis, derivation, development, and application of a BA-CPHD implementation for tracking dim ballistic targets in environments with a range of unknown clutter rates, unknown clutter distribution, and unknown target probability of detection. The effectiveness and accuracy of the implemented algorithms are assessed and evaluated. Results that evaluate and also demonstrate the specific merits of the proposed approach are presented.
For the last two years at this conference, we have described the implementation of a unified, sci... more For the last two years at this conference, we have described the implementation of a unified, scientific approach to performance measurement for data fusion algorithms based on FINITE-SET STATISTICS (FISST). FISST makes it possible to directly extend Shannon-type information metrics to multisource, multitarget problems. In previous papers we described application of information Measures of Effectiveness (MoEs) to multisource-multitarget data fusion and to non-distributed sensor management. In this follow-on paper we show how to generalize this work to DISTRIBUTED sensor management and ADAPTIVE DATA FUSION.
This paper discusses the application of a generalized identification method for flight test data ... more This paper discusses the application of a generalized identification method for flight test data analysis. The method is based on the maximum likelihood (ML) criterion and includes output error and equation error methods as special cases. Both the linear and nonlinear models with and without process noise are considered. The flight test data from lateral maneuvers of HL-10 and M2/F3 lifting bodies are processed to determine the lateral stability and control derivatives, instrumentation accuracies and biases. A comparison is made between the results of the output error method and the generalized ML method for M2/F3 data containing gusts. It is shown that better fits to time histories are obtained by using the generalized ML method.
Active control of aeromechanical instability such as ground and air resonances involves designing... more Active control of aeromechanical instability such as ground and air resonances involves designing controllers that provide stability over a wide range of rotor speeds subject to safety constraints on rotor tip displacement and saturation constraints on actuator inputs. In this paper, we formulate this as an L the 2, y and z components of the hub displacement, velocity, and acceleration are used as measurements. Numerical results show that .controller provides uniform exponential stability and other time domain requirements in the *This research was supported by NASA Ames Research Center under contract NAS2-98022. We gratefully acknowledge support from our technical monitor Stephen Jacklin of NASA Ames. . , 4’ R. L. Bennett Bell Helicopter Textron Inc. P. 0. Box 482 Fort Worth, TX 76101 DBennet@bellhelicopter.textron.com presence of parametric uncertainty and exogenous inputs.
... P. tkreau ADEFsA/L/GEBBIOS 53 Av. de l'lurope 78140 Velizy France D. Guillaume S... more ... P. tkreau ADEFsA/L/GEBBIOS 53 Av. de l'lurope 78140 Velizy France D. Guillaume SFENA BP .59 78140 Velizy France Abstract ... 1. 2. 3. 4. References Richalet, J., A. Rault, JL Testud and J. Papon (1976), "Algorithm Control of Industrial Processes," 4th IFAC Symp. ...
Pilot-Induced Oscillation (PIO) is an instability resulting from the dynamic interaction between ... more Pilot-Induced Oscillation (PIO) is an instability resulting from the dynamic interaction between the pilot and the aircraft. In this paper, we present a general framework for the analysis of nonlinear PIO. The approach involves the computation of nonlinear phenomena such as Hopf bifurcation that lead to large changes in structural stability of the Pilot-Vehicle System (PVS). Flying qualities cliffs are associated with these nonlinear phenomena. Since PVS is a forced system, standard bifurcation analysis techniques are not directly applicable to the PIO problem. This difficulty is circumvented by augmenting the PVS dynamics with an asymptoticall y stable nonlinear oscillator. As examples, the X-15 PIO caused by ratelimiting and an F/A-18 PIO caused by nonlinear Category III triggers are considered. We computed limit cycle amplitudes as a function
Page 125. The Fighter Aircraft LCS: A Real-World, Machine Innovation Application RE Smith1, A. El... more Page 125. The Fighter Aircraft LCS: A Real-World, Machine Innovation Application RE Smith1, A. El-Fallah, B. Ravichandran, RK Mehra2, BA Dike3 1 Faculty of Computing, Engineering, and Mathematical Sciences The University of The West of England, Bristol, UK robert. ...
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