NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Decentralized control of large flexible structures by joint decouplingThis paper presents a novel method to design decentralized controllers for large complex flexible structures by using the idea of joint decoupling. Decoupling of joint degrees of freedom from the interior degrees of freedom is achieved by setting the joint actuator commands to cancel the internal forces exerting on the joint degrees of freedom. By doing so, the interactions between substructures are eliminated. The global structure control design problem is then decomposed into several substructure control design problems. Control commands for interior actuators are set to be localized state feedback using decentralized observers for state estimation. The proposed decentralized controllers can operate successfully at the individual substructure level as well as at the global structure level. Not only control design but also control implementation is decentralized. A two-component mass-spring-damper system is used as an example to demonstrate the proposed method.
Document ID
19950032980
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Su, Tzu-Jeng
Juang, Jer-Nan
Date Acquired
August 16, 2013
Publication Date
July 1, 1994
Publication Information
Publication: Journal of Guidance, Control, and Dynamics
Volume: 17
Issue: 4
ISSN: 0731-5090
Subject Category
Cybernetics
Accession Number
95A64579
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available