This paper presents a novel method to design decentralized controllers for large complex flexible structures by using the idea of joint decoupling. Decoupling of joint degrees of freedom from the interior degrees of freedom is achieved by setting the joint actuator commands to cancel the internal forces exerting on the joint degrees of freedom. By doing so, the interactions between substructures are eliminated. The global structure control design problem is then decomposed into several substructure control design problems. Control commands for interior actuators are set to be localized state feedback using decentralized observers for state estimation. The proposed decentralized controllers can operate successfully at the individual substructure level as well as at the global structure level. Not only control design but also control implementation is decentralized. A two-component mass-spring-damper system is used as an example to demonstrate the proposed method.
Decentralized control of large flexible structures by joint decoupling
1994-07-01
Miscellaneous
No indication
English
Decentralized Control of Large Flexible Structures by Joint Decoupling
Online Contents | 1994
|Joint Decoupling Methods for Decentralized Control of Flexible Structures
British Library Conference Proceedings | 1994
|The decentralized control of large flexible space structures
Tema Archive | 1984
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