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Control of Flexible Multibody Systems: Some Problems and Solutions C.J. Damaren, University of Canterbury, New Zealand Electrical Engineering Seminar, December 9, 1998 (CEB 231, 11:00 a.m.)
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About The SpeakerChris Damaren completed his doctorate in aerospace engineering at the University of Toronto in 1990. From 1990 to 1995, he was with the Department of Engineering at Royal Roads Military College where he taught courses in the Space Science programme. Since 1995, he has been with the Dept of Mechanical Eng at the University of Canterbury in Christchurch, New Zealand. His main research interest is the control of flexible structures.AbstractInterconnected systems of structurally flexible bodies occur in many aerospace applications. Typically the ``hinges'' are actuated and the control problem lies in achieving prescribed behaviour for some output involving hinge motion and structural deflections. Output tracking requires the solution of two subproblems: plant inversion and feedback stabilization. Both are greatly complicated by the noncollocation of actuation and sensing as well as uncertainty in the mathematical model. The difficulties involved are discussed and two independent techniques for solving these problems will be presented. A testbed developed for studying the problem will be described and experimental results are given which demonstrate the efficacy of the adopted methods. |