The design of optimal strictly positive real (SPR) compensators using numerical optimization is considered. The plants to be controlled are linear and nonlinear flexible manipulators. For the design of SISO and MIMO linear SPR controllers, the optimization objective function is defined by reformulating the H2-optimal control problem subject to the constraint that the controllers must be SPR. Various controller parameterizations using transfer functions/matrices and state-space equations are considered. Depending on the controller form, constraints are enforced (i) using simple inequalities guaranteeing SPRness, (ii) in the frequency domain, or (iii) by implementing the Kalman-Yakubovich- Popov lemma. The design of a gain-scheduled SPR controller using numerical optimization is also considered. Using a family of linear SPR controllers, the time dependent scheduling signals are parameterized, and the objective function of the optimizer seeks to find the form of the scheduling signals which minimizes the manipulator tip tracking error while minimizing the control effort.

Techn. Univ., Habil.-Schr.--Braunschweig, 2006.

Thesis (Ph. D.)--University of Missouri-Columbia, 2002. / Typescript. Vita. Includes bibliographical references (leaves 207-211). Also available on the Internet.

Thesis (Ph. D.)--University of Missouri-Columbia, 2002. / Typescript. Vita. Includes bibliographical references (leaves 207-211). Also available on the Internet.

published_or_final_version / Architecture / Master / Master of Architecture

In this thesis, we study fault tolerant control (FTC) for the decentralized robust servomechanism problem (DRSP) of a colocated large flexible space structure (LFSS) under sensor and actuator failures (SAF). The control objective is to devise a decentralized controller that maintains the stability of the LFSS, tracks a constant reference for healthy outputs, regulates against an unknown constant disturbance for healthy outputs, and is robust against parametric uncertainties, so that ``spillover effects'' do not occur. Two FTC frameworks are considered: An active FTC framework that assumes SAF are known, and a passive FTC framework for which SAF are unknown. The active FTC framework extends existing work on DRSP of a nominal LFSS, and applies a PID controller that has fault-dependent adjustments. Necessary and sufficient conditions for a solution to exist are determined, notably an easy-to-test rank condition. For the passive FTC framework, a PD controller that stabilizes an LFSS under unknown SAF is found. Although perfect tracking and regulation are not attained under the PD controller, by applying high gains, the errors for healthy outputs can be reduced to any desired level. However, outputs with failed sensors and healthy actuators can reach undesirably high magnitude under high gains. To improve performance under low gains, insights on steady-state outputs are applied to develop a feed-forward control that has good performance in tracking, but not regulation. Further analysis on the PD controller reveals a method to diagnose SAF using steady-state outputs. As a result, the PD controller and PID controller are found to have complementary advantages, leading to an 3-stage integrated FTC procedure. First, the PD controller can stabilize the LFSS under unknown SAF (passive FTC). Next, fault diagnosis is performed while the LFSS is stabilized. Finally, a reconfigured PID controller applying diagnosed SAF enables healthy outputs to meet control objectives (active FTC). Three examples, including a benchmark space platform with 200 states obtained by finite-element analysis, are used to illustrate the results throughout this thesis.

In this thesis, we study fault tolerant control (FTC) for the decentralized robust servomechanism problem (DRSP) of a colocated large flexible space structure (LFSS) under sensor and actuator failures (SAF). The control objective is to devise a decentralized controller that maintains the stability of the LFSS, tracks a constant reference for healthy outputs, regulates against an unknown constant disturbance for healthy outputs, and is robust against parametric uncertainties, so that ``spillover effects'' do not occur. Two FTC frameworks are considered: An active FTC framework that assumes SAF are known, and a passive FTC framework for which SAF are unknown. The active FTC framework extends existing work on DRSP of a nominal LFSS, and applies a PID controller that has fault-dependent adjustments. Necessary and sufficient conditions for a solution to exist are determined, notably an easy-to-test rank condition. For the passive FTC framework, a PD controller that stabilizes an LFSS under unknown SAF is found. Although perfect tracking and regulation are not attained under the PD controller, by applying high gains, the errors for healthy outputs can be reduced to any desired level. However, outputs with failed sensors and healthy actuators can reach undesirably high magnitude under high gains. To improve performance under low gains, insights on steady-state outputs are applied to develop a feed-forward control that has good performance in tracking, but not regulation. Further analysis on the PD controller reveals a method to diagnose SAF using steady-state outputs. As a result, the PD controller and PID controller are found to have complementary advantages, leading to an 3-stage integrated FTC procedure. First, the PD controller can stabilize the LFSS under unknown SAF (passive FTC). Next, fault diagnosis is performed while the LFSS is stabilized. Finally, a reconfigured PID controller applying diagnosed SAF enables healthy outputs to meet control objectives (active FTC). Three examples, including a benchmark space platform with 200 states obtained by finite-element analysis, are used to illustrate the results throughout this thesis.

Thesis (M.S.)--Ohio University, August, 2001. / Title from PDF t.p.

Thesis (Ph. D.)--University of Canterbury, 2009. / Typescript (photocopy). "February 2009." Includes bibliographical references. Also available via the World Wide Web.

This work places itself in the field of textile design, weaving and interactive objects. It explores how the combination of solid and soft materials in a woven structure affect its flexibility and pliability. By integrating solid materials as a weaving material the work aims to propose an alternative context for woven structures, not necessarily becoming fabrics but rather objects that can be interacted with. The design process consisted of series of workshops where woven samples were made on a hand loom, weaving frame and by hand. The result are three woven structures each of which show of different flexibilities attained through the combination of solid and soft materials. The pieces are meant to be interacted with and can be shaped in various ways by folding, stacking or connecting parts of the structure. Combining solid and soft materials with the weaving technique shows the potential of interactive structures and objects which propose multiple functions, and can be developed further into products for interior design or play.