A robust optimization approach for magnetic spacecraft attitude stabilization

Attitude stabilization of spacecraft using magnetorquers can be achieved by a proportional–derivative-like control algorithm. The gains of this algorithm are usually determined by using a trial-and-error approach within the large search space of the possible values of the gains. However, when finding the gains in this manner, only a small portion of the search space is actually explored. We propose here an innovative and systematic approach for finding the gains: they should be those that minimize the settling time of the attitude error. However, the settling time depends also on initial conditions. Consequently, gains that minimize the settling time for specific initial conditions cannot guarantee the minimum settling time under different initial conditions. Initial conditions are not known in advance. We overcome this obstacle by formulating a min–max problem whose solution provides robust gains, which are gains that minimize the settling time under the worst initial conditions, thus producing good average behavior. An additional difficulty is that the settling time cannot be expressed in analytical form as a function of gains and initial conditions. Hence, our approach uses some derivative-free optimization algorithms as building blocks. These algorithms work without the need to write the objective function analytically: they only need to compute it at a number of points. Results obtained in a case study are very promising

Detecting concentration changes with cooperative receptors

Cells constantly need to monitor the state of the environment to detect changes and timely respond. The detection of concentration changes of a ligand by a set of receptors can be cast as a problem of hypothesis testing, and the cell viewed as a Neyman-Pearson detector. Within this framework, we investigate the role of receptor cooperativity in improving the cell's ability to detect changes. We find that cooperativity decreases the probability of missing an occurred change. This becomes especially beneficial when difficult detections have to be made. Concerning the influence of cooperativity on how fast a desired detection power is achieved, we find in general that there is an optimal value at finite levels of cooperation, even though easy discrimination tasks can be performed more rapidly by noncooperative receptors.Comment: 20 pages, 7 figure

Spacecraft Attitude Stabilization with Piecewise-constant Magnetic Dipole Moment

In actual implementations of magnetic control laws for spacecraft attitude stabilization, the time in which Earth magnetic field is measured must be separated from the time in which magnetic dipole moment is generated. The latter separation translates into the constraint of being able to genere only piecewise-constant magnetic dipole moment. In this work we present attitude stabilization laws using only magnetic actuators that take into account of the latter aspect. Both a state feedback and an output feedback are presented, and it is shown that the proposed design allows for a systematic selection of the sampling period.Comment: arXiv admin note: text overlap with arXiv:1411.275

Monotonic Distributive Semilattices

In the study of algebras related to non-classical logics, (distributive) semilattices are always present in the background. For example, the algebraic semantic of the {→, ∧, ⊤}-fragment of intuitionistic logic is the variety of implicative meet-semilattices (Chellas 1980; Hansen 2003). In this paper we introduce and study the class of distributive meet-semilattices endowed with a monotonic modal operator m. We study the representation theory of these algebras using the theory of canonical extensions and we give a topological duality for them. Also, we show how our new duality extends to some particular subclasses.Fil: Celani, Sergio Arturo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Departamento de Matemática; ArgentinaFil: Menchón, María Paula. Universidad Nacional del Centro de la Provincia de Buenos Aires. Facultad de Ciencias Exactas. Departamento de Matemática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin

Energy dissipation statistics in a shell model of turbulence

The Reynolds number dependence of the statistics of energy dissipation is investigated in a shell model of fully developed turbulence. The results are in agreement with a model which accounts for fluctuations of the dissipative scale with the intensity of energy dissipation. It is shown that the assumption of a fixed dissipative scale leads to a different scaling with Reynolds which is not compatible with numerical results.Comment: 3 pages RevTeX, 4 PostScript figures, tarred, gzippe

Global and robust attitude control of a launch vehicle in exoatmospheric flight

The goal of this research is to design global and robust attitude control systems for launch vehicles in exoatmospheric flight. An attitude control system is global when it guarantees that the vehicle converges to the desired attitude regardless of its initial condition. Global controllers are important because when large angle maneuvers must be performed, it is simpler to use a single global controller than several local controllers patched together. In addition, the designed autopilots must be robust with respect to uncertainties in the parameters of the vehicle, which means that global convergence must be achieved despite of those uncertainties. Two designs are carried out. In the first one possible delays introduced by the actuator are neglected. The design is performed by using a Lyapunov approach, and the obtained autopilot is a standard proportional-derivative controller. In the second one, the effects of the actuator are considered. Then the design is based on robust backstepping which leads to a memory-less nonlinear feedback of attitude, attitude-rate, and of the engine deflection angle. Both autopilots are validated in a case study

A Luenberger-style Observer for Robot Manipulators with Position Measurements

This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the observation error dynamics is globally exponentially stable and that the corresponding convergence rate can be made arbitrarily high by increasing a gain of the observer. Comparisons and relations between the proposed observer and existing observers are discussed. The effectiveness of the result here presented is illustrated by a simulation of the observer for the Pendubot, an underactuated two-joint manipulator.Comment: 6 pages, 2 figure