Evolving Systems: Nonlinear Adaptive Key Component Control with Persistent Disturbance Rejection
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Evolving Systems: Nonlinear Adaptive Key Component Control with Persistent Disturbance Rejection Mark J. Balas1 · Susan A. Frost2
Published online: 14 October 2015 © American Astronautical Society 2015
Abstract This paper presents an introduction to Evolving Systems, which are autonomously controlled subsystems that self-assemble into a new Evolved System with a higher purpose. Evolving Systems of aerospace structures often require additional control when assembling to maintain stability during the entire evolution process. This is the concept of adaptive key component control which operates through one specific component to maintain stability during the evolution. In addition this control must overcome persistent disturbances that occur while the evolution is in progress. We present theoretical results for the successful operation of nonlinear adaptive key component control in the presence of such disturbances and an illustrative example. Keywords Evolving systems · Aerospace systems · Adaptive systems
Introduction Evolving Systems are autonomously controlled subsystems which self-assemble into a new Evolved System with a higher purpose [1, 2]. Evolving Systems of aerospace structures often require additional control when assembling to maintain stability during the entire evolution process [3–5]. An adaptive key component controller has
Mark J. Balas
[email protected] 1
Aerospace Engineering Department, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, USA
2
Computer Engineer, Intelligent Systems Division, NASA Ames Research Center, POB 1, M/S 269-3, Moffett Field, CA 94035, USA
J of Astronaut Sci (2013) 60:366–377
367
been shown to restore stability in Evolving Systems that would otherwise lose stability during evolution [6]. The adaptive key component controller uses a direct adaptation control law to restore stability to the Evolving System through a subset of the input and output ports on one key component of the Evolving System. A general introduction and discussion of the details and applications of Evolving Systems appears in ref. 8. In this paper, we will deal with the situation where persistent disturbances can appear in some components and must be mitigated by the adaptive key component controller. Such disturbances will often be attendant in actively controlled rendezvous and docking. The control laws used by the adaptive key component controller to restore stability in an Evolving System are guaranteed to have bounded gains and asymptotic tracking if the Evolved System is almost strictly dissipative. Hence, it is desirable to know when the dissipativity traits of the subsystem components, including the key component, are inherited in an Evolving System. We present results describing when an Evolving System will inherit the almost strict dissipativity traits of its subsystem components. Then we will present an adaptive key component controller that restores asymptotic stability with bounded adaptive gains and mitigates the effect of persistent disturbances during evolution.
Mathe
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