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.
| Identifer | oai:union.ndltd.org:tamu.edu/oai:repository.tamu.edu:1969.1/3889 |
| Date | 16 August 2006 |
| Creators | Majji, Manoranjan |
| Contributors | Junkins, John L. |
| Publisher | Texas A&M University |
| Source Sets | Texas A and M University |
| Language | en_US |
| Detected Language | English |
| Type | Book, Thesis, Electronic Thesis, text |
| Format | 1474160 bytes, electronic, application/pdf, born digital |
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