Aerospace Control Research at the Ohio State University Aerospace Engineering Department

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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
CCCS Flight Control (past)
CCCS Flow Control (past)
Qualitative Stability (Active, unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active,unfunded)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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Current Research Projects
CCCS Flight Control (past)
CCCS Flow Control (past)
Qualitative Stability (Active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active,unfunded)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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

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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
CCCS Flight Control (Past)
CCCS Flow Control (Past)
Qualitative Stability (Active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (Past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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

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Current Research Projects
CCCS Flight Control (Past)
CCCS Flow Control (Past)
Qualitative Stability (Active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (Past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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

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NASA Dryden

• Graduate Student Praveen Shankar
• Funded by NASA Dryden
• Ph.D. defense in Spring07
• Praveen won the prestigious AIAA Orville Wright
  Graduate Student Award this year

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Current Research Projects
CCCS Flight Control (Past)
CCCS Flow Control (Past)
Qualitative Stability (Active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (Past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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 Barcelona
• Another paper on Engine Fault Detection using
  Dynamic/Adaptive Threshold under review for Turbo
  Expo07 in Montreal

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Current Research Projects
CCCS Flight Control (Past)
CCCS Flow Control (Pastt)
Qualitative Stability (Active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (Past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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

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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
CCCS Flight Control (Past)
CCCS Flow Control (Past)
Qualitative Stability (Active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (Past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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
CCCS Flight Control (Past)
CCCS Flow Control (Past)
Qualitative Stability (Active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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
CCCS Flight Control (past)
CCCS Flow Control (past)
Qualitative Stability (active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR/UTC (past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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

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Current Research Projects
CCCS Flight Control (past)
CCCS Flow Control (past)
Qualitative Stability (active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (Current)
AFRL/PR (past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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 (ACC06)

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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 (ACC06, ROCOND06)
• 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
  ACODS07)
• 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
CCCS Flight Control (Past)
CCCS Flow Control (past)
Qualitative Stability (active,unfunded)
NASA Dryden (Current)
Chemotherapy Drug Delivery (Active)
Current Research Activities
NASA Glenn / GEAE (Current)
US Army (current)
AFRL/PR (past)
STTR/SBIR (trying)
Uncertain Systems Research (Active)
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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 projects
• Avenues available for collaboration
• Vibrant graduate student body (Currently have 5
  Ph.D students and one Masters student)
• Expect continued research activity