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Modeling and Control of a Flexible Structure Incorporating Inertial Slip-Stick Actuators

Darby, A. P. and Pellegrino, S. (1999) Modeling and Control of a Flexible Structure Incorporating Inertial Slip-Stick Actuators. Journal of Guidance, Control, and Dynamics, 22 (1). pp. 36-42. ISSN 0731-5090. http://resolver.caltech.edu/CaltechAUTHORS:DARjgcd99

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Abstract

Shape and vibration control of a linear flexible structure by means of a new type of inertial slip-stick actuator are investigated. A nonlinear model representing the interaction between the structure and a six-degree-of-freedom Stewart platform system containing six actuators is derived, and closed-loop stability and performance of the controlled systems are investigated. A linearized model is also derived for design purposes. Quasistatic alignment of a payload attached to the platform is solved simply by using a proportional controller based on a linear kinematic model. The stability of this controller is examined using a dynamic model of the complete system and is validated experimentally by introducing random thermal elongations of several structural members. Vibration control is solved using an H∞ loop-shaping controller and, although its performance is found to be less satisfactory than desired, the nonlinear model gives good predictions of the performance and stability of the closed-loop system.


Item Type:Article
Additional Information:Copyright ©1998 by A. P. Darby and S. Pellegrino. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission. Received Nov. 12, 1996; revision received July 12, 1998; accepted for publication July 27, 1998. We gratefully acknowledge financial support toward the work presented provided by the Engineering and Physical Sciences Research Council, The Royal Society of London, and Matra–Marconi Space U.K. We are also grateful to G.W. Game and C.J.H. Williams, formerly at British Aerospace Space Systems and to our colleague K. Glover for their advice and encouragement during the course of this work. Helpful comments by the reviewers have been incorporated in the final version of this paper.
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Engineering and Physical Sciences Research CouncilUNSPECIFIED
Royal Society of LondonUNSPECIFIED
Matra-Marconi Space U.K.UNSPECIFIED
Record Number:CaltechAUTHORS:DARjgcd99
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:DARjgcd99
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ID Code:11137
Collection:CaltechAUTHORS
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Deposited On:17 Jul 2008 21:55
Last Modified:26 Dec 2012 10:09

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