Sajjadi-Kia S.,SySense, Inc. |
Jabbari F.,University of California at Irvine
Proceedings of the 2010 American Control Conference, ACC 2010 | Year: 2010
This note considers adding a measure of scheduling to the popular Anti-windup design for linear systems with saturating actuators. The main idea is to develop a scheduling scheme in which the anti-windup gains used depend on how much the actuator command exceeds the saturation bound. We present preliminary results for static Anti-windup gains, along with the convex synthesis LMIs, for the case of having two levels of saturation: moderate and severe. Benefits of the proposed design method over the traditional single gain Anti-Windup compensation are demonstrated using a well-known example. © 2010 AACC. Source
Agency: National Aeronautics and Space Administration | Branch: | Program: SBIR | Phase: Phase II | Award Amount: 749.96K | Year: 2014
SySense, Inc. proposes to develop a framework for the design and implementation of fault detection and isolation (FDI) systems. The framework will include protocols which define how to work with an end customer so that an FDI system may be developed for a wide range of autonomous satellite, rocket, air, land, and underwater vehicle missions. The framework will define what kinds of data and information are needed a priori in order to design the FDI system, what kinds of mission requirements can be answered with the system, and how the system should be implemented in order to meet those requirements. The framework will also include the procedure to facilitate the efficient integration of our FDI methodology into both existing and planned systems. Clearly defining the FDI design process through this framework will make the technology more accessible to mission designers and lower the cost of implementation, providing more opportunities to apply this technology. The efficacy of the framework will be confirmed by designing and implementing collocated and non-collocated FDI systems for a representative satellite mission. The framework will also include introductory tutorial material designed for mission planners.
Agency: Department of Defense | Branch: Air Force | Program: SBIR | Phase: Phase I | Award Amount: 99.50K | Year: 2011
SySense, Inc. proposes to adapt fault detection methodologies developed for the Data Acquisition and Error Budget Analysis Tools (DAEBAT) SBIR effort to the integrity management of Unmanned Air Vehicle Systems (UAVS). In Phase I, a set of integrity monitors will be developed to detect measurement faults in individual sensors and when redundant data is available, parity checks will be performed to detect faults between sources. A trade study will be conducted to develop the architecture of a model-based fault detection and isolation filter for a specific UAVS application such as Sense and Avoid. In a Phase II effort, the sensor monitors developed in Phase I will be implemented as Simulink real-time nodes capable of running on flight hardware. In addition, the model-based fault detection filter studied in Phase I will be developed, integrated, and validated through simulation BENEFIT: This software has applications to many safety critical processes such as those in the automotive, aerospace, and automation industries. Integrity monitors could be installed in automobile stability control systems to monitor for defective sensors. Future applications of an automated highway would require such safety features to ensure passenger safety. The applications within the aerospace industry are large and include engine monitoring, navigation systems assurance, and health monitoring for formation flight clusters.
Agency: Department of Defense | Branch: Missile Defense Agency | Program: SBIR | Phase: Phase I | Award Amount: 99.91K | Year: 2008
This proposal addresses the need for a low-powered, low-noise, high-sensitivity, jam-resistant P/M code capable GPS receiver which can continuously track a GPS signal under high-g environments. The system incorporates several innovative technologies. First, the system is designed to keep the intrinsic system noise to a minimum. Second, a sensor suite incorporating an inertial measurement unit (IMU) is interfaced to the system and an ultra-tightly coupled algorithm incorporating a nonlinear filter to integrate the equations of motion increases the system sensitivity, allowing it to operate in environments where signal strength is severely. Third, the system is designed to be jam-resistant. In addition, the system has been designed for low power consumption and portable dimensions using commercially available off-the-shelf components. Using such components also helps keep system cost to a minimum while providing the required system performance.
Agency: National Aeronautics and Space Administration | Branch: | Program: SBIR | Phase: Phase II | Award Amount: 599.99K | Year: 2007
Formation flying enables new capabilities in distributed sensing, surveillance in Earth orbit and for interferometer imaging in deep space as envisioned by the Terrestrial Plant Finder-Interferometer (TPF-I) mission. Specifically, formation flying spacecraft refer to a set of spatially distributed spacecraft interacting and cooperating with one another. Our objective in Phase II is to develop and implement highly reliable fault detection, identification, and reconstruction algorithms that take into account the high analytic redundancy of the spacecraft and the distributed spacecraft system. In the Phase I our analytic redundancy management methodology was developed and demonstrated on a small distributed and collaborative set of simulated spacecraft. These results are to be generalized and applied to realistic spacecraft systems in Phase II. Faults in spacecraft sensors and actuators of a cluster of spacecraft are to be detected, identified, and reconstructed using abstractions from high-fidelity models such as found in FAST (Formation Algorithms and Simulation Testbed). From these analytical redundancy algorithms a fault-tolerant state estimator is constructed which is not corrupted by system faults. These techniques will be implemented and tested in FAST. These algorithms will be transferred to the Formation Control Testbed (FCT) robots and tested and verified in FCT.