Presented By: Aerospace Engineering
AE Defense: Optimal Output Modification and Robust Control using Minimum Gain and the Large Gain Theorem
Aerospace Engineering PhD Candidate: Ryan Caverly, Dissertation Chair: Assistant Professor James R. Forbes
Ryan Caverly
Doctor of philosophy
Aerospace Engineering
The input-output properties of a system to be controlled play an important role in determining control strategies that can or should be applied, as well as the achievable closed-loop performance. Optimal output modification is a process in which the system output is modified in such a manner that the modified system has a desired input-output property and the modified output is as similar as possible to a specified desired output. The first part of this dissertation develops linear matrix inequality (LMI)-based optimal output modification techniques to render a system minimum phase using parallel feedforward control or strictly positive real by linearly combining sensor measurements.
All mathematical models of physical systems are uncertain. Robust control can provide a guarantee of closed-loop stability and/or performance of a system subject to uncertainty, and is often performed using the well-known Small Gain Theorem. The second part of this dissertation introduces the little-known Large Gain Theorem and establishes its use for robust control. LMI-based robust controller synthesis methods using the Large Gain Theorem are presented and tested numerically on a robust control benchmark problem to demonstrate their practicality and ability to solve robust control problems that could not previously be solved.
Doctoral Committee:
Co-Chair:
Assistant Professor James R. Forbes
Cognate Member:
Associate Professor Jeffrey Scruggs (Civil)
Members:
Professor Dennis Bernstein
Professor Ilya Kolmanovsky
Publications
Journal Publications
1. R. J. Caverly and J. R. Forbes “H-Infinity Optimal Parallel Feedforward Control using Minimum Gain,” IEEE Control Systems Letters, under review.
2. R. J. Caverly, R. Pates, L. J. Bridgeman and J. R. Forbes “MIMO Nyquist Interpretation of the Large Gain Theorem,” International Journal of Control, under review.
3. R. J. Caverly and J. R. Forbes "Flexible Planar Cable-Driven Parallel Manipulator Control: Maintaining Positive Cable Tensions," IEEE Transactions on Control Systems Technology, to appear.
4. R. J. Caverly and J. R. Forbes "Dynamic Modeling, Trajectory Optimization, and Control of a Flexible Kiteplane," IEEE Transactions on Control Systems Technology, Vol. 25, No. 4, pp. 1297-1306, 2017.
5. R. J. Caverly and J. R. Forbes "Estimator Design for a Single Degree of Freedom Cable-Actuated System," Journal of the Franklin Institute, Vol. 353, No. 18, pp. 4845-4869, 2016.
6. R. J. Caverly, C. Li, E. J. Chae, J. R. Forbes and Y. L. Young "Modeling and Control of Flow-Induced Vibrations of a Flexible Hydrofoil in Viscous Flow,'' Smart Materials and Structures, Vol. 25, No. 6, pp. 065007-065020, 2016.
7. R. J. Caverly, D. E. Zlotnik and J. R. Forbes "Saturated Control of Flexible-Joint Manipulators Using a Hammerstein Strictly Positive Real Compensator," Robotica, Vol. 34, No. 6, pp. 1367-1382, 2016.
8. R. J. Caverly, J. R. Forbes and D. Mohammadshahi "Dynamic Modeling and Passivity-Based Control of a Single Degree of Freedom Cable-Actuated System," IEEE Transactions of Control Systems Technology, Vol. 23, No. 3, pp. 898-909, 2015.
9. R. J. Caverly and J. R. Forbes "Dynamic Modeling and Noncollocated Control of a Flexible Planar Cable-Driven Manipulator," IEEE Transactions of Robotics, Vol. 30, No. 6, pp. 1386-1397, 2014.
10. R. J. Caverly, D. E. Zlotnik, L. J. Bridgeman and J. R. Forbes "Saturated Proportional Derivative Control of Flexible-Joint Manipulators," Robotics and Computer Integrated Manufacturing, Vol. 30, No. 6, pp. 658-666, 2014.
11. R. J. Caverly, D. E. Zlotnik and J. R. Forbes "Saturated Proportional Derivative Control of a Single-Link Flexible-Joint Manipulator," Transactions of the Canadian Society for Mechanical Engineering: Special Issue on Mechanisms, Machines, and Mechatronics, Vol. 38, No. 2, pp. 241-250, 2014.
Refereed Conference Publications
1. R. J. Caverly, S. Di Cairano and A. Weiss "Split-Horizon MPC for Coupled Station Keeping, Attitude Control, and Momentum Management of GEO Satellites using On-Off Electric Thrusters", American Control Conference, Milwaukee, WI, Jun. 27-29, 2018, paper 440, to appear.
2. R. J. Caverly, S. Di Cairano and A. Weiss "Quantization of an MPC Policy for Coupled Station Keeping, Attitude Control, and Momentum Management of GEO Satellites", European Control Conference, Limassol, Cyprus, Jun. 12-15, 2018, paper 671, to appear.
3. R. J. Caverly and J. R. Forbes "Zero Shaping of Nonminimum Phase Aircraft Dynamics," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 8-12, 2018, p. 601.
4. H. A. Godbole, R. J. Caverly and J. R. Forbes "Modelling of Flexible Cable-Driven Parallel Robots using a Rayleigh-Ritz Approach," Third International Conference on Cable-Driven Parallel Robots (CableCon 2017), Quebec City, Canada, Aug. 2-4, 2017.
5. R. J. Caverly, J. R. Forbes "Nyquist Interpretation of the Large Gain Theorem," IFAC World Congress, Toulouse, France, Jul. 9-14, 2017.
6. R. J. Caverly, J. R. Forbes "Regional Pole and Zero Placement with Static Output Feedback via the Modified Minimum Gain Lemma," American Control Conference, Seattle, WA, May 24-26, 2017, pp. 364-369.
7. R. J. Caverly, J. R. Forbes, B. P. Danowsky and P. M. Suh "Gust Load Alleviation of a Flexible Aircraft using a Disturbance Observer," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Grapevine, TX, Jan. 9-13, 2017, p. 1718.
8. R. J. Caverly, A. R. Girard, I. V. Kolmanovsky and J. R. Forbes "Nonlinear Dynamic Inversion of a Flexible Aircraft," IFAC Symposium on Automatic Control in Aerospace (ACA), Sherbrooke, QC, Canada, Aug. 21-25, 2016.
9. R. J. Caverly and J. R. Forbes "Modeling and Control of a Flexible Kiteplane with Unsteady Aerodynamics," American Control Conference, Boston, MA, Jul. 6-8, 2016, pp. 4972-4977.
10. R. J. Caverly and J. R. Forbes "Robust Controller Design using the Large Gain Theorem: The Full-State Feedback Case," American Control Conference, Boston, MA, Jul. 6-8, 2016, pp. 3832-3837. Awarded best presentation in session.
11. R. J. Caverly and J. R. Forbes "Maintaining Positive Cable Tensions During Operation of a Single Degree of Freedom Flexible Cable-Driven Parallel Manipulator," American Control Conference, Chicago, IL, Jul. 1-3, 2015, pp. 1205-1210. Awarded best presentation in session.
12. L. J. Bridgeman, R. J. Caverly and J. R. Forbes "Conic-Sector-Based Synthesis: Theory and Experiments," American Control Conference, Portland, OR, Jun. 4-6, 2014, pp. 4931-4936. Awarded best presentation in session.
13. W. Khan, R. Caverly and M. Nahon "Propellor Slipstream Model for Small Unmanned Aerial Vehicles," AIAA Modeling and Simulation Technologies Conference, Boston, MA, Aug. 19-22, 2013, AIAA 2013-4907. Received AIAA Best Paper Award.
14. R. J. Caverly, D. E. Zlotnik and J. R. Forbes "Saturated Proportional Derivative Control of a Single-Link Flexible-Joint Manipulator," CCToMM Mechanisms, Machines, and Mechatronics Symposium, Montreal, Canada, May 30-31, 2013, P05.
Doctor of philosophy
Aerospace Engineering
The input-output properties of a system to be controlled play an important role in determining control strategies that can or should be applied, as well as the achievable closed-loop performance. Optimal output modification is a process in which the system output is modified in such a manner that the modified system has a desired input-output property and the modified output is as similar as possible to a specified desired output. The first part of this dissertation develops linear matrix inequality (LMI)-based optimal output modification techniques to render a system minimum phase using parallel feedforward control or strictly positive real by linearly combining sensor measurements.
All mathematical models of physical systems are uncertain. Robust control can provide a guarantee of closed-loop stability and/or performance of a system subject to uncertainty, and is often performed using the well-known Small Gain Theorem. The second part of this dissertation introduces the little-known Large Gain Theorem and establishes its use for robust control. LMI-based robust controller synthesis methods using the Large Gain Theorem are presented and tested numerically on a robust control benchmark problem to demonstrate their practicality and ability to solve robust control problems that could not previously be solved.
Doctoral Committee:
Co-Chair:
Assistant Professor James R. Forbes
Cognate Member:
Associate Professor Jeffrey Scruggs (Civil)
Members:
Professor Dennis Bernstein
Professor Ilya Kolmanovsky
Publications
Journal Publications
1. R. J. Caverly and J. R. Forbes “H-Infinity Optimal Parallel Feedforward Control using Minimum Gain,” IEEE Control Systems Letters, under review.
2. R. J. Caverly, R. Pates, L. J. Bridgeman and J. R. Forbes “MIMO Nyquist Interpretation of the Large Gain Theorem,” International Journal of Control, under review.
3. R. J. Caverly and J. R. Forbes "Flexible Planar Cable-Driven Parallel Manipulator Control: Maintaining Positive Cable Tensions," IEEE Transactions on Control Systems Technology, to appear.
4. R. J. Caverly and J. R. Forbes "Dynamic Modeling, Trajectory Optimization, and Control of a Flexible Kiteplane," IEEE Transactions on Control Systems Technology, Vol. 25, No. 4, pp. 1297-1306, 2017.
5. R. J. Caverly and J. R. Forbes "Estimator Design for a Single Degree of Freedom Cable-Actuated System," Journal of the Franklin Institute, Vol. 353, No. 18, pp. 4845-4869, 2016.
6. R. J. Caverly, C. Li, E. J. Chae, J. R. Forbes and Y. L. Young "Modeling and Control of Flow-Induced Vibrations of a Flexible Hydrofoil in Viscous Flow,'' Smart Materials and Structures, Vol. 25, No. 6, pp. 065007-065020, 2016.
7. R. J. Caverly, D. E. Zlotnik and J. R. Forbes "Saturated Control of Flexible-Joint Manipulators Using a Hammerstein Strictly Positive Real Compensator," Robotica, Vol. 34, No. 6, pp. 1367-1382, 2016.
8. R. J. Caverly, J. R. Forbes and D. Mohammadshahi "Dynamic Modeling and Passivity-Based Control of a Single Degree of Freedom Cable-Actuated System," IEEE Transactions of Control Systems Technology, Vol. 23, No. 3, pp. 898-909, 2015.
9. R. J. Caverly and J. R. Forbes "Dynamic Modeling and Noncollocated Control of a Flexible Planar Cable-Driven Manipulator," IEEE Transactions of Robotics, Vol. 30, No. 6, pp. 1386-1397, 2014.
10. R. J. Caverly, D. E. Zlotnik, L. J. Bridgeman and J. R. Forbes "Saturated Proportional Derivative Control of Flexible-Joint Manipulators," Robotics and Computer Integrated Manufacturing, Vol. 30, No. 6, pp. 658-666, 2014.
11. R. J. Caverly, D. E. Zlotnik and J. R. Forbes "Saturated Proportional Derivative Control of a Single-Link Flexible-Joint Manipulator," Transactions of the Canadian Society for Mechanical Engineering: Special Issue on Mechanisms, Machines, and Mechatronics, Vol. 38, No. 2, pp. 241-250, 2014.
Refereed Conference Publications
1. R. J. Caverly, S. Di Cairano and A. Weiss "Split-Horizon MPC for Coupled Station Keeping, Attitude Control, and Momentum Management of GEO Satellites using On-Off Electric Thrusters", American Control Conference, Milwaukee, WI, Jun. 27-29, 2018, paper 440, to appear.
2. R. J. Caverly, S. Di Cairano and A. Weiss "Quantization of an MPC Policy for Coupled Station Keeping, Attitude Control, and Momentum Management of GEO Satellites", European Control Conference, Limassol, Cyprus, Jun. 12-15, 2018, paper 671, to appear.
3. R. J. Caverly and J. R. Forbes "Zero Shaping of Nonminimum Phase Aircraft Dynamics," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 8-12, 2018, p. 601.
4. H. A. Godbole, R. J. Caverly and J. R. Forbes "Modelling of Flexible Cable-Driven Parallel Robots using a Rayleigh-Ritz Approach," Third International Conference on Cable-Driven Parallel Robots (CableCon 2017), Quebec City, Canada, Aug. 2-4, 2017.
5. R. J. Caverly, J. R. Forbes "Nyquist Interpretation of the Large Gain Theorem," IFAC World Congress, Toulouse, France, Jul. 9-14, 2017.
6. R. J. Caverly, J. R. Forbes "Regional Pole and Zero Placement with Static Output Feedback via the Modified Minimum Gain Lemma," American Control Conference, Seattle, WA, May 24-26, 2017, pp. 364-369.
7. R. J. Caverly, J. R. Forbes, B. P. Danowsky and P. M. Suh "Gust Load Alleviation of a Flexible Aircraft using a Disturbance Observer," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Grapevine, TX, Jan. 9-13, 2017, p. 1718.
8. R. J. Caverly, A. R. Girard, I. V. Kolmanovsky and J. R. Forbes "Nonlinear Dynamic Inversion of a Flexible Aircraft," IFAC Symposium on Automatic Control in Aerospace (ACA), Sherbrooke, QC, Canada, Aug. 21-25, 2016.
9. R. J. Caverly and J. R. Forbes "Modeling and Control of a Flexible Kiteplane with Unsteady Aerodynamics," American Control Conference, Boston, MA, Jul. 6-8, 2016, pp. 4972-4977.
10. R. J. Caverly and J. R. Forbes "Robust Controller Design using the Large Gain Theorem: The Full-State Feedback Case," American Control Conference, Boston, MA, Jul. 6-8, 2016, pp. 3832-3837. Awarded best presentation in session.
11. R. J. Caverly and J. R. Forbes "Maintaining Positive Cable Tensions During Operation of a Single Degree of Freedom Flexible Cable-Driven Parallel Manipulator," American Control Conference, Chicago, IL, Jul. 1-3, 2015, pp. 1205-1210. Awarded best presentation in session.
12. L. J. Bridgeman, R. J. Caverly and J. R. Forbes "Conic-Sector-Based Synthesis: Theory and Experiments," American Control Conference, Portland, OR, Jun. 4-6, 2014, pp. 4931-4936. Awarded best presentation in session.
13. W. Khan, R. Caverly and M. Nahon "Propellor Slipstream Model for Small Unmanned Aerial Vehicles," AIAA Modeling and Simulation Technologies Conference, Boston, MA, Aug. 19-22, 2013, AIAA 2013-4907. Received AIAA Best Paper Award.
14. R. J. Caverly, D. E. Zlotnik and J. R. Forbes "Saturated Proportional Derivative Control of a Single-Link Flexible-Joint Manipulator," CCToMM Mechanisms, Machines, and Mechatronics Symposium, Montreal, Canada, May 30-31, 2013, P05.
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