A model based hierarchical approach to control design for morphing dynamics
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This paper presents a state-based hierarchical approach to control law design for morphing dynamics. The proposed methodology requires knowledge of dynamics of the states being controlled; in this case, the morphing states. The starting point is a performance map defined on a subspace of the state-space, which defines the operation regime of the morphing structure. The objective is to traverse the map to reach desired operation configurations. It is shown that a connected discrete graph can be superimposed on the performance map that makes all reachable morphing states inside the map accessible from all other points on the map. The control laws for transferring the system from one node on the graph to another are designed using a successive linear-quadratic-regulator approach. An example is presented based on a two-dimensional, two degree-of-freedom morphing structure to illustrate the hierarchical approach. The ideas are also applied to an advanced morphing structure based on a Kagomé truss and initial results are shown. Copyright © 2009 by Mrinal Kumar.
author list (cited authors)
Kumar, M., & Chakravorty, S.