Decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output

This paper considers position and attitude control of large flexible space structures composed of a number of subsystems(substructures) which are interconnected by flexible links modeled by springs and dampers. It is assumed that sensors and actuators are collocated in each subsystem. The purpose of...

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Autor principal:	Yohji KOBAYASHI
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	decentralized control large flexible space structure robust control optimal control proper controller displacement output Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/16ed4608a7974b9cac607fc6258530ae
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spelling	oai:doaj.org-article:16ed4608a7974b9cac607fc6258530ae2021-11-26T06:25:42ZDecentralized robust optimal control of large flexible space structures by local proper controllers using displacement output2187-974510.1299/mej.14-00555https://doaj.org/article/16ed4608a7974b9cac607fc6258530ae2015-04-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/2/3/2_14-00555/_pdf/-char/enhttps://doaj.org/toc/2187-9745This paper considers position and attitude control of large flexible space structures composed of a number of subsystems(substructures) which are interconnected by flexible links modeled by springs and dampers. It is assumed that sensors and actuators are collocated in each subsystem. The purpose of the paper is to propose a decentralized control scheme by local proper controllers using only displacement output, which makes both each closed-loop subsystem and an overall closed-loop system not only robustly stable against uncertainty of characteristic parameters such as mass, damping, and stiffness, but also optimal for quadratic cost functions. First, we introduce a second order low-pass filter of which relative degree is 1, at each input channel of each subsystem. Then, we temporarily feed back displacement and velocity output of the substructure and output of the filter to input of the filter locally, so that we obtain a local proper controller using displacement output. By choosing parameters of each local proper controller as it becomes a phase lead compensator, the closed-loop subsystems and the overall closed-loop system become robustly stable. Furthermore, it can be shown the closed-loop subsystems and the overall closed-loop system also become optimal for quadratic cost functions by making two feedback gains in each local proper controller sufficiently large. Finally, numerical examples are presented to show effectiveness of the proposed method.Yohji KOBAYASHIThe Japan Society of Mechanical Engineersarticledecentralized controllarge flexible space structurerobust controloptimal controlproper controllerdisplacement outputMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 2, Iss 3, Pp 14-00555-14-00555 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	decentralized control large flexible space structure robust control optimal control proper controller displacement output Mechanical engineering and machinery TJ1-1570
spellingShingle	decentralized control large flexible space structure robust control optimal control proper controller displacement output Mechanical engineering and machinery TJ1-1570 Yohji KOBAYASHI Decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output
description	This paper considers position and attitude control of large flexible space structures composed of a number of subsystems(substructures) which are interconnected by flexible links modeled by springs and dampers. It is assumed that sensors and actuators are collocated in each subsystem. The purpose of the paper is to propose a decentralized control scheme by local proper controllers using only displacement output, which makes both each closed-loop subsystem and an overall closed-loop system not only robustly stable against uncertainty of characteristic parameters such as mass, damping, and stiffness, but also optimal for quadratic cost functions. First, we introduce a second order low-pass filter of which relative degree is 1, at each input channel of each subsystem. Then, we temporarily feed back displacement and velocity output of the substructure and output of the filter to input of the filter locally, so that we obtain a local proper controller using displacement output. By choosing parameters of each local proper controller as it becomes a phase lead compensator, the closed-loop subsystems and the overall closed-loop system become robustly stable. Furthermore, it can be shown the closed-loop subsystems and the overall closed-loop system also become optimal for quadratic cost functions by making two feedback gains in each local proper controller sufficiently large. Finally, numerical examples are presented to show effectiveness of the proposed method.
format	article
author	Yohji KOBAYASHI
author_facet	Yohji KOBAYASHI
author_sort	Yohji KOBAYASHI
title	Decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output
title_short	Decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output
title_full	Decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output
title_fullStr	Decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output
title_full_unstemmed	Decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output
title_sort	decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/16ed4608a7974b9cac607fc6258530ae
work_keys_str_mv	AT yohjikobayashi decentralizedrobustoptimalcontroloflargeflexiblespacestructuresbylocalpropercontrollersusingdisplacementoutput
_version_	1718409763348283392

Decentralized robust optimal control of large flexible space structures by local proper controllers using displacement output

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