Nonlinear Control of Mechanical Systems in the Presence of Magnitude and
Rate Saturations
Richard M. Murray
California Institute of Technology
Office of Naval Research
N00014-96-1-0804
This program ran from 1996-1999 under
support by the Office of Naval Research. This information was collected by Richard M. Murray;
this page is no longer actively maintained, but serves as an archive for work
performed under this grant.
This project is aimed at developing systematic techniques for control of
mechanical systems in the presence of magnitude and rate saturations, with
particular emphasis on problems arising in the context of high performance
aircraft. Magnitude and rate saturations are a major source of nonlinearities in all flight control systems and are a fundamental mechanism of instability
in both automated and piloted flight. Recent theoretical developments in
nonlinear control theory as well as increasing computational power in
offline and online computation are enabling the use of more powerful
techniques for control of these systems.
The proposed research builds on an established base of work in nonlinear
control of mechanical systems and stabilization of strongly nonlinear
systems to explore new approaches to this problem. In addition to
developing theoretical tools for analysis of flight control systems with
saturations, experimental validation of the techniques will be carried out
using a flight control experiment at Caltech that exhibits many of the
essential features of aircraft systems while remaining simple enough to
allow meaningful testing of fundamental feedback mechanisms. Industrial
participation with Honeywell Technology Center and McDonnell Douglas
Corporation provides a direct path for successful techniques into industry
and provides feedback mechanisms to insure the applicability of the proposed
work.
The following individuals received partial support from this program:
- Richard M. Murray (Caltech) - Principal Investigator
- Michiel van Nieuwstadt (Caltech grad student) - real-time trajectory
generation
- Trygve
Lauvdal (Caltech visitor from NUST) - Automatic gain control
- Oliver Kaiser (Caltech visitor from
ETH) - United local and global controllers
- Pascal Morin (Caltech postdoc from Ecole des Mines) - Nonlinear rescaling
- Sunil Agrawal (Caltech visitor from U. Delaware) - Real-time trajectory
generation
- Herbert Streumper (Caltech postdoc from U. Maryland) - topological
limitations
- 00c/fam00-gnc
- Differentially
Flat Systems with Inequality Constraints: An Approach to Real-Time
Feasible Trajectory Generation
Nadim Faiz, Sunil Agrawal and Richard Murray
To appear, J. Guidance, Navigation and Control, 2000
- 99b/mur99-lund
- Geometric
Approaches to Control in the Presence of Magnitude and Rate Saturations
Richard M. Murray
In The Astrom Symposium on Control, pp. 43-72, 1999
- 98o/afm99-ifac
- Feasible
Trajectories of Linear Dynamic Systems with Inequality Constraints Using
HigherOrder Representations
Sunil K. Agrawal, Nadeem Faiz, Richard M. Murray
1999 IFAC World Congress
- 97k/mmp98-nolcos
- Nonlinear
Rescaling of Control Laws with Application to Stabilization in the Presence
of Magnitude Saturation
Pascal Morin, Richard M. Murray, Laurent Praly
1998 IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)
- 97f/lm97-gnc
- Stabilization
of a Pitch Axis Flight Control Experiment with Input Rate Saturation
Trygve Lauvdal and Richard M. Murray
1997 AIAA Guidance, Navigation and Control Conference
- 97c/lmf97-cdc
- Stabilization
of Integrator Chains in the Presence of Magnitude and Rate Saturations: A
Gain Scheduling Approach
Trygve Lauvdal, Richard M. Murray, Thor I. Fossen
1997 Conference on Decision and Control
- 96r/tkm97-acc
- Uniting
local and global controllers for the Caltech ducted fan
Andrew R. Teel, Oliver Kaiser, Richard M. Murray
1997 American Control Conference
Richard Murray (murray@cds.caltech.edu)
http://www.cds.caltech.edu/~murray/projects/onr96-saturation/
Last modified: 12/27/00