Adaptive Control of Flexible Structures using Residual Mode Filters Conference Paper uri icon


  • Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter.

name of conference

  • 49th IEEE Conference on Decision and Control (CDC)

published proceedings

  • 49th IEEE Conference on Decision and Control (CDC)

author list (cited authors)

  • Balas, M. J., & Frost, S. A.

citation count

  • 0

complete list of authors

  • Balas, Mark J||Frost, Susan A

publication date

  • December 2010