Robust control of redundantly actuated dynamical systems

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Title: Robust control of redundantly actuated dynamical systems
Author: Majji, Manoranjan
Abstract: The eigenstructure assignment scheme for robust multivariable feedback control is extended to redundantly actuated dynamical systems . It is shown that an orthonormal set of close loop eigenvectors is always exactly assignable in the case of redundant actuation proving the inherent robustness in the control design methodology . A choice of close loop eigenvector set to minimize the feedback gain matrix is suggested . Partial Eigenstructure Assignment methodology is proposed for second order mechanical systems . A methodology for coordinated actuation of redundant actuator sets by a trained weighted minimum norm solution is presented . To apply the methodology to hyper -redundant actuator arrays , for application to smart actuator arrays , a novel adaptive discretization algorithm is proposed . The adaptive aggregation strategy , based on the physics of the system , introduces nodes , to optimize a performance index of the overall plant model . The dimensionality of the inputs thus reduces to a finite number , making it a candidate plant for control by the robust redundant control scheme . The adaptive aggregation together with robust redundant control methodology is demonstrated on a finite element model of a novel morphing wing . This schema unifies the traditionally disparate methods of modeling and controller design .
URI: http : / /hdl .handle .net /1969 .1 /3889
Date: 2006-08-16

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Robust control of redundantly actuated dynamical systems. Available electronically from http : / /hdl .handle .net /1969 .1 /3889 .

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