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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
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Outline
Overview of Current Research Projects
Possible Collaborative Avenues
Conclusions
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Current (and Past) Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active,unfunded)
NASA Dryden
(Current)
AFRL/PR(past)
CCCSFlight Control
(past)
STTR/SBIR(trying)
CCCSFlow Control
(past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(Active, unfunded)
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active,unfunded)
NASA Dryden
(Current)
AFRL/PR(past)
CCCSFlight Control
(past)
STTR/SBIR(trying)
CCCSFlow Control
(past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(Active,unfunded)
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CCCS: Flight Control (2001-2004)
• 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
DynamicInversion
ControlAllocation
SDRERedesign
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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
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR(Past)
CCCSFlight Control
(Past)
STTR/SBIR(trying)
CCCSFlow Control
(Past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(Active,unfunded)
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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
D
L
W
M M UU
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR(Past)
CCCSFlight Control
(Past)
STTR/SBIR(trying)
CCCSFlow Control
(Past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(Active,unfunded)
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NASA Dryden (2004-2006)
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
Reference Model
PI Controller
Neural Network
Dynamic Inversion
Control Allocator
δω
ωdes
F-15
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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
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR(Past)
CCCSFlight Control
(Past)
STTR/SBIR(trying)
CCCSFlow Control
(Past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(Active,unfunded)
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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
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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
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NASA Glenn / GEAE (2005-2006)
Paper published in Turbo Expo ’06 in BarcelonaAnother paper on Engine Fault Detection using
Dynamic/Adaptive Threshold under review for Turbo Expo’07 in Montreal
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR(Past)
CCCSFlight Control
(Past)
STTR/SBIR(trying)
CCCSFlow Control
(Pastt)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(Active,unfunded)
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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)
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AFRL / PR/UTC (2004-2005)
Graduate Student: Majid Siddiqi
– Funded by UTC from January 2004 – June 2005
– R.K. Yedavalli, M. Siddiqi, A.Behbahani, “Model-based Prognostics of Turbine Engines for Predicting Blade Cracks”, paper to be presented at the 41st AIAA/ASME/SAE/ASEE Joint Propulsion Conference & Exhibit
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR(Past)
CCCSFlight Control
(Past)
STTR/SBIR(trying)
CCCSFlow Control
(Past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(Active,unfunded)
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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
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR(past)
CCCSFlight Control
(Past)
STTR/SBIR(trying)
CCCSFlow Control
(Past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(Active,unfunded)
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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
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Robust Stability and Control of Multi-body Ground Vehicles (ARO)’06-’09
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Robust Stability and Control of Multi-body 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.
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR/UTC(past)
CCCSFlight Control
(past)
STTR/SBIR(trying)
CCCSFlow Control
(past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(active,unfunded)
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Chemotherapy Drug Delivery
Application of uncertain linear systems control theory with structured uncertainty to drug delivery schedule relating clinical information in cancer chemotherapy
Q
Ptsf
dt
tdQdt
tdP
)(
)(
)(
λδ
γP
Cycling Cells
α
β
Q
Resting Cells
timeT
a
T/a
do
se
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR(past)
CCCSFlight Control
(past)
STTR/SBIR(trying)
CCCSFlow Control
(past)
US Army(Current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(active,unfunded)
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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)
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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 !
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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
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Current Research Projects
Current Research Activities
ChemotherapyDrug Delivery
(Active)
NASA Dryden
(Current)
AFRL/PR(past)
CCCSFlight Control
(Past)
STTR/SBIR(trying)
CCCSFlow Control
(past)
US Army(current)
NASAGlenn / GEAE
(Current)
UncertainSystems
Research (Active)
Qualitative Stability
(active,unfunded)
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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
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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
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Conclusions
Engaged actively in varied research projectsAvenues available for collaborationVibrant graduate student body (Currently have 5
Ph.D students and one Masters student)Expect continued research activity