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Harry Kwatny

Drexel University, Mechanical Engineering and Mechanics, Faculty Member

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Armando Marques-Guedes

UNL - New University of Lisbon

Visvesvaraya Technological University

The Ohio State University

ANAS ABDULRAHIM

University of Turkish Aeronautical Association

Onur Ozdal Mengi

Giresun University

Daniel Condurache

Technical University of Iasi

University of Nottingham

Alessandro Gardi

Khalifa University

University of Illinois at Urbana-Champaign

Kyushu University

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Papers by Harry Kwatny

Robust tracking control of an aircraft with critical actuator jam failures

Asian Journal of Control, 2019

In this paper, we present a new single fixed controller approach based on the multivariable H2 co... more In this paper, we present a new single fixed controller approach based on the multivariable H2 control/regulator theory with internal model principle to solve a challenging control problem arising from an on‐flight critical elevator jam at random positions that otherwise would need switching numerous controllers or online adaptive redesign approaches.

Generating Par ndent Linear Families From

Asymptotic Tracking and Robustness of MAS Transitions Under a New Communication Topology

IEEE Transactions on Automation Science and Engineering, 2016

Multi-Model Adaptive Regulation for Aircraft Dynamics With Different Zero Structures

Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Man..., 2014

An adaptive regulator is designed for parameter dependent families of systems subject to changes ... more An adaptive regulator is designed for parameter dependent families of systems subject to changes in the zero structure. Since continuous adaptive regulation is limited by relative degree and right half plane zeros, a multiple model adaptive regulator is implemented. The two multiple model design subproblems, covering and switching, are addressed with LQR state feedback and Lyapunov function switch logic respectively. These two subproblems are combined into a set of Linear Matrix Inequalities (LMI) and concurrently solved. The multiple model design method is applied to longitudinal aircraft dynamics.

Power System Dynamics and Control

Control Engineering, 2016

The use of general descriptive names, registered names, trademarks, service marks, etc. in this p... more

Design and quasi-static characterization of SMASH: SMA stabilizing handgrip

Proceedings of SPIE, Apr 6, 2007

Due to physiologically induced body tremors, there is a need for active stabilization in many han... more

Attitude Control of Articulated, Flexible Spacecraft

Elsevier eBooks, 1993

This paper extends the authors' prior work on the regulation of flexible space structures via par... more This paper extends the authors' prior work on the regulation of flexible space structures via partial feedback linearization methods to articulated systems. The modeJing of such systems through Poincare's form of Lagrange's equations is shown to be efficient and to provide for easy construction of feedback linearizing control laws. An application to a flexible spaee platform with a mobile remote manipulator is included.

Power System Dynamics and Control

Control engineering, 2016

The use of general descriptive names, registered names, trademarks, service marks, etc. in this p... more The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made.

Optimal linear control theory and a class of PI controllers for process control

IEEE Transactions on Automatic Control, 1972

<title>Design and quasi-static characterization of SMASH: SMA stabilizing handgrip</title>

Modeling, Signal Processing, and Control for Smart Structures 2007, 2007

Due to physiologically induced body tremors, there is a need for active stabilization in many han... more Due to physiologically induced body tremors, there is a need for active stabilization in many hand-held devices such as surgical tools, optical equipment (cameras), manufacturing tools, and small arms weapons. While active stabilization has been achieved with electromagnetic and piezoceramics actuators for cameras and surgical equipment, the hostile environment along with larger loads introduced by manufacturing and battlefield environments make

Aircraft Accident Prevention: Loss-of-Control Analysis

AIAA Guidance, Navigation, and Control Conference, 2009

Modeling and control of large flexible structures

It is commonplace in structural dynamics to judge the fidelity of finite element models by the ac... more It is commonplace in structural dynamics to judge the fidelity of finite element models by the accuracy with which they predict the modal data of the first few modes. However, if the model is being developed for control design the important criteria for judging the finite element models might not be the modal data of the first few modes. This paper shows that the modal cost method of judging the importance of modes provides a useful criteria, and that the convergence properties of the modal costs is a reasonable means to determine finite element number and grid distribution.

Optimal tracking approach to load frequency control in power systems

2000 IEEE Power Engineering Society Winter Meeting. Conference Proceedings (Cat. No.00CH37077)

This paper takes the view that the predominant problem of load frequency control (LFC) resides in... more This paper takes the view that the predominant problem of load frequency control (LFC) resides in the low frequency domain associated with bulk generation change and which is dominated by limited generation response capability. In this setting LFC is formulated as a tracking problem in which energy source dynamics and load following play a central role. It is shown how load prediction and coordination of area generation in a multi-area interconnection can effectively improve the regulation of inter-area power flows.

The modeling of a once-through steam generator for system dynamics and control studies

IEEE Transactions on Automatic Control, 1977

An automatic control solution for impaired airplane with asymmetrical engine failures

An asymmetrical engine failure in a multi-engine aircraft during flight can pose an immediate thr... more An asymmetrical engine failure in a multi-engine aircraft during flight can pose an immediate threat and lead to a fatal crash if no appropriate corrective action is taken in time. Although almost all pilots are trained to follow a protocol to manually mitigate the crisis, asymmetrical engine failure still remains as one of the main precursors leading to fatal aircraft crash. In this paper, an automatic control solution designed based on H 2 servomechanism control theory is proposed to effectively address this issue. The NASA GTM (Generic Transport Model) T2 aircraft, which is a twin-turbine unmanned aerial vehicle (UAV), is employed as a test bed. The UAV is 5.5% dynamically scaled to realistically simulate characteristics of a full-scale large civil transport jet aircraft.

Nonlinear Dynamics and Attitude Control of Articulated and Flexible Spacecraft

제어로봇시스템학회 국내학술대회 논문집, Oct 1, 1993

Uncertainty Modeling for Robustness Analysis of Aircraft Control Upset Prevention and Recovery Systems

AIAA Guidance, Navigation, and Control Conference and Exhibit, Jun 19, 2005

Formal robustness analysis of aircraft control upset prevention and recovery systems could play a... more Formal robustness analysis of aircraft control upset prevention and recovery systems could play an important role in their validation and ultimate certification. Such systems (developed for failure detection, identification, and reconfiguration, as well as upset recovery) need to be evaluated over broad regions of the flight envelope and under extreme flight conditions, and should include various sources of uncertainty. However, formulation of linear fractional transformation (LFT) models for representing system uncertainty can be very difficult for complex parameter-dependent systems. This paper describes a preliminary LFT modeling software tool which uses a matrix-based computational approach that can be directly applied to parametric uncertainty problems involving multivariate matrix polynomial dependencies. Several examples are presented (including an F-16 at an extreme flight condition, a missile model, and a generic example with numerous crossproduct terms), and comparisons are given with other LFT modeling tools that are currently available. The LFT modeling method and preliminary software tool presented in this paper are shown to compare favorably with these methods.

Energy analysis of load-induced flutter instability in classical models of electric power networks

IEEE Transactions on Circuits and Systems, 1989

Aircraft Accident Prevention: Loss-of-Control Analysis

AIAA Guidance, Navigation, and Control Conference, Jun 14, 2009

An optimal tracking approach to load-frequency control

IEEE Transactions on Power Apparatus and Systems, Sep 1, 1975

Robust tracking control of an aircraft with critical actuator jam failures

Asian Journal of Control, 2019

In this paper, we present a new single fixed controller approach based on the multivariable H2 co... more In this paper, we present a new single fixed controller approach based on the multivariable H2 control/regulator theory with internal model principle to solve a challenging control problem arising from an on‐flight critical elevator jam at random positions that otherwise would need switching numerous controllers or online adaptive redesign approaches.

Generating Par ndent Linear Families From

Asymptotic Tracking and Robustness of MAS Transitions Under a New Communication Topology

IEEE Transactions on Automation Science and Engineering, 2016

Multi-Model Adaptive Regulation for Aircraft Dynamics With Different Zero Structures

Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Man..., 2014

An adaptive regulator is designed for parameter dependent families of systems subject to changes ... more An adaptive regulator is designed for parameter dependent families of systems subject to changes in the zero structure. Since continuous adaptive regulation is limited by relative degree and right half plane zeros, a multiple model adaptive regulator is implemented. The two multiple model design subproblems, covering and switching, are addressed with LQR state feedback and Lyapunov function switch logic respectively. These two subproblems are combined into a set of Linear Matrix Inequalities (LMI) and concurrently solved. The multiple model design method is applied to longitudinal aircraft dynamics.

Power System Dynamics and Control

Control Engineering, 2016

The use of general descriptive names, registered names, trademarks, service marks, etc. in this p... more

Design and quasi-static characterization of SMASH: SMA stabilizing handgrip

Proceedings of SPIE, Apr 6, 2007

Due to physiologically induced body tremors, there is a need for active stabilization in many han... more

Attitude Control of Articulated, Flexible Spacecraft

Elsevier eBooks, 1993

This paper extends the authors' prior work on the regulation of flexible space structures via par... more This paper extends the authors' prior work on the regulation of flexible space structures via partial feedback linearization methods to articulated systems. The modeJing of such systems through Poincare's form of Lagrange's equations is shown to be efficient and to provide for easy construction of feedback linearizing control laws. An application to a flexible spaee platform with a mobile remote manipulator is included.

Power System Dynamics and Control

Control engineering, 2016

The use of general descriptive names, registered names, trademarks, service marks, etc. in this p... more The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made.

Optimal linear control theory and a class of PI controllers for process control

IEEE Transactions on Automatic Control, 1972

<title>Design and quasi-static characterization of SMASH: SMA stabilizing handgrip</title>

Modeling, Signal Processing, and Control for Smart Structures 2007, 2007

Due to physiologically induced body tremors, there is a need for active stabilization in many han... more Due to physiologically induced body tremors, there is a need for active stabilization in many hand-held devices such as surgical tools, optical equipment (cameras), manufacturing tools, and small arms weapons. While active stabilization has been achieved with electromagnetic and piezoceramics actuators for cameras and surgical equipment, the hostile environment along with larger loads introduced by manufacturing and battlefield environments make

Aircraft Accident Prevention: Loss-of-Control Analysis

AIAA Guidance, Navigation, and Control Conference, 2009

Modeling and control of large flexible structures

It is commonplace in structural dynamics to judge the fidelity of finite element models by the ac... more It is commonplace in structural dynamics to judge the fidelity of finite element models by the accuracy with which they predict the modal data of the first few modes. However, if the model is being developed for control design the important criteria for judging the finite element models might not be the modal data of the first few modes. This paper shows that the modal cost method of judging the importance of modes provides a useful criteria, and that the convergence properties of the modal costs is a reasonable means to determine finite element number and grid distribution.

Optimal tracking approach to load frequency control in power systems

2000 IEEE Power Engineering Society Winter Meeting. Conference Proceedings (Cat. No.00CH37077)

This paper takes the view that the predominant problem of load frequency control (LFC) resides in... more This paper takes the view that the predominant problem of load frequency control (LFC) resides in the low frequency domain associated with bulk generation change and which is dominated by limited generation response capability. In this setting LFC is formulated as a tracking problem in which energy source dynamics and load following play a central role. It is shown how load prediction and coordination of area generation in a multi-area interconnection can effectively improve the regulation of inter-area power flows.

The modeling of a once-through steam generator for system dynamics and control studies

IEEE Transactions on Automatic Control, 1977

An automatic control solution for impaired airplane with asymmetrical engine failures

An asymmetrical engine failure in a multi-engine aircraft during flight can pose an immediate thr... more An asymmetrical engine failure in a multi-engine aircraft during flight can pose an immediate threat and lead to a fatal crash if no appropriate corrective action is taken in time. Although almost all pilots are trained to follow a protocol to manually mitigate the crisis, asymmetrical engine failure still remains as one of the main precursors leading to fatal aircraft crash. In this paper, an automatic control solution designed based on H 2 servomechanism control theory is proposed to effectively address this issue. The NASA GTM (Generic Transport Model) T2 aircraft, which is a twin-turbine unmanned aerial vehicle (UAV), is employed as a test bed. The UAV is 5.5% dynamically scaled to realistically simulate characteristics of a full-scale large civil transport jet aircraft.

Nonlinear Dynamics and Attitude Control of Articulated and Flexible Spacecraft

제어로봇시스템학회 국내학술대회 논문집, Oct 1, 1993

Uncertainty Modeling for Robustness Analysis of Aircraft Control Upset Prevention and Recovery Systems

AIAA Guidance, Navigation, and Control Conference and Exhibit, Jun 19, 2005

Formal robustness analysis of aircraft control upset prevention and recovery systems could play a... more Formal robustness analysis of aircraft control upset prevention and recovery systems could play an important role in their validation and ultimate certification. Such systems (developed for failure detection, identification, and reconfiguration, as well as upset recovery) need to be evaluated over broad regions of the flight envelope and under extreme flight conditions, and should include various sources of uncertainty. However, formulation of linear fractional transformation (LFT) models for representing system uncertainty can be very difficult for complex parameter-dependent systems. This paper describes a preliminary LFT modeling software tool which uses a matrix-based computational approach that can be directly applied to parametric uncertainty problems involving multivariate matrix polynomial dependencies. Several examples are presented (including an F-16 at an extreme flight condition, a missile model, and a generic example with numerous crossproduct terms), and comparisons are given with other LFT modeling tools that are currently available. The LFT modeling method and preliminary software tool presented in this paper are shown to compare favorably with these methods.

Energy analysis of load-induced flutter instability in classical models of electric power networks

IEEE Transactions on Circuits and Systems, 1989

Aircraft Accident Prevention: Loss-of-Control Analysis

AIAA Guidance, Navigation, and Control Conference, Jun 14, 2009

An optimal tracking approach to load-frequency control

IEEE Transactions on Power Apparatus and Systems, Sep 1, 1975