During the past decade, researchers have shown much interest in control and identification of Large Space Structures (LSS). Our inability to model these LSS accurately has generated extensive research into robust controllers capable of maintaining stability in the presence of large structural uncertainties as well as changing structural characteristics. In this work the performance of Model Reference Adaptive Control - (MRAC) is studied in numerical simulations and verified experimentally, to understand how differences between the plant and the reference model affect the control effort. MRAC is applied analytically and experimentally to a single-degree-of-freedom system and analytically to a multi-degree-of-freedom system with multi-inputs and multi-outputs. Good experimental and analytical agreement is demonstrated in control experiments and it is shown that MRAC does an excellent job of controlling the structures and achieving the desired performance even when large differences between the plant and ideal reference model exist. However, it is shown that reasonable differences between the reference model and the plant significantly increase the required control effort.
The effects of increased damping in the reference model are considered, and it is shown that requiring the controller to provide increased damping actually decreases the required control effort when differences between the plant and reference model exist. This result is very useful because one of the first attempts to counteract the increased control effort due to differences between the plant and reference model might be to require less damping, however, this would actually increase the control effort.
The use of optimization to successfully improve performance and reduce control effort is shown to be limited, because the actual control-structure system can not realize all the performance improvements of the analytical optimal system. Finally, it is shown that very large sampling rates may be required to accurately implement MRAC. / Ph. D.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/38340 |
| Date | 06 June 2008 |
| Creators | Messer, Richard Scott |
| Contributors | Aerospace Engineering, Kapania, Rakesh K., Hendricks, Scott L., Lutze, Frederick H., Durham, Wayne C., Haftka, Raphael T., Cudney, Harley H. |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Dissertation, Text |
| Format | xv, 149 leaves, BTD, application/pdf, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
| Relation | OCLC# 26650318, LD5655.V856_1992.M477.pdf |
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