2A15 Decentralized Robust Optimal Control of Large Flexible Space Structures by Local Proper Controllers Using Displacement Output(The 12th International Conference on Motion and Vibration Control)

Abstract

This paper considers position and attitude control of large flexible space structures composed of a number of sub- systems(substructures) which are interconnected by flexible links modelled by springs and dampers. It is assumed that sensors and actuators are collocated in each subsystem. The purpose of the paper is to propose a decentralized control scheme with local proper controllers using displacement/angle output, which makes both each closed- loop subsystem and the overall closed-loop system not only robustly stable against uncertainty of characteristic parameters such as mass, damping, and stiffness, but also optimal for a quadratic cost function.