Adaptive CSI Compensation for Reduced-Order-Model-Based Control of a Flexible Robot Manipulator Conference Paper

abstract

• It is not feasible to construct controllers for large space structures or large scale systems (LSS's) which are of the same order as the structures. Because of this, the controller for system performance of such a system is based on a much smaller reduced-order model (ROM). Unfortunately, the interaction between the LSS and the ROM-based controller can produce instabilities in the closed-loop system due to the unmodeled dynamics of the LSS. Residual mode filters (RMF's) allow the systematic removal of these instabilities in a matter which does not require a redesign of the controller. An adaptive, self-tung RMF design, which compensates for uncertainty in the frequency of the residual mode, has been simulated using the continuous-time and discrete-time models of a flexible robot manipulator. This paper will present the results of that work on adaptive, self-tuning RMF's, and will clearly show the advantages of this adaptive compensation technique for controller-structure interaction (CSI) instabilities in actively-controlled LSS's.

name of conference

• 1990 American Control Conference

authors

• Balas, Mark

published proceedings

• 1990 American Control Conference

author list (cited authors)

• Davidson, R. A., Balas, M. J., & Reisenauer, B. T.

citation count

• 2

complete list of authors

• Davidson, Roger A||Balas, Mark J||Reisenauer, Brian T

publication date

• May 1990

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• Adaptive Control
• Control System Synthesis
• Control Systems
• Large-scale Systems
• Manipulators
• Orbital Robotics
• Programmable Control
• Reduced Order Systems
• Robots
• System Performance

Digital Object Identifier (DOI)

• 10.23919/acc.1990.4790756

start page

• 334

end page

• 339

URL

• http://dx.doi.org/10.23919/acc.1990.4790756