B. Boulet et al., UNCERTAINTY MODELING AND EXPERIMENTS IN H-INFINITY CONTROL OF LARGE FLEXIBLE SPACE STRUCTURES, IEEE transactions on control systems technology, 5(5), 1997, pp. 504-519
Citations number
18
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Approaches to uncertainty modeling for robust control of large flexibl
e space structures (LFSS's) such as additive or multiplicative perturb
ations in H-infinity do not work very well because of the special prop
erties of LFSS dynamics. In this paper, we propose the use of a left-c
oprhne factorization (LCF) of LFSS dynamics in modal coordinates in or
der to get improved stability margins and performance in robust contro
l design. The plant uncertainty is then described as stable perturbati
ons of the coprime factors accounting for modal parameter uncertainty
and unmodeled dynamics. Two multivariable H-infinity designs based on
LCF's of 46th-order collocated and noncollocated models of an LFSS exp
erimental testbed are presented together with simulation and experimen
tal results to illustrate the technique.