Robust adaptive control of a slewing active structure

David G. Wilson; Gordon G. Parker; Gregory P. Starr; Rush D. Robinett III

doi:10.1117/12.350697

9 June 1999 Robust adaptive control of a slewing active structure

David G. Wilson, Gordon G. Parker, Gregory P. Starr, Rush D. Robinett III

Proceedings Volume 3668, Smart Structures and Materials 1999: Smart Structures and Integrated Systems; (1999) https://doi.org/10.1117/12.350697
Event: 1999 Symposium on Smart Structures and Materials, 1999, Newport Beach, CA, United States

Abstract

In this paper we present a hybrid adaptive control for rigid body slewing and constant amplitude feedback control for residual vibration suppression for a slewing active structure. This system consists of (1) a single-axis servo DC motor and encoder for rigid motion slewing and (2) a graphite/epoxy composite smart link with embedded strain sensors/actuators for active vibration suppression. The results of this study include the theoretical development and preliminary experimental results. The hybrid control algorithm uses the output sensor data from the encoder and strain sensor along with filters to derive velocity information to compute the control for the motor and strain actuators. Near-minimum time maneuvers based on an equivalent rigid structure are used to slew the flexible active structure. The tip mass was varied so that the robustness of the control system could be evaluated. Experimental slewing studies were performed to compare the benefits of using active rather than passive structures. The experimental results show a reduction in residual vibration and settling time for the active structure case.

Citation Download Citation

David G. Wilson, Gordon G. Parker, Gregory P. Starr, and Rush D. Robinett III "Robust adaptive control of a slewing active structure", Proc. SPIE 3668, Smart Structures and Materials 1999: Smart Structures and Integrated Systems, (9 June 1999); https://doi.org/10.1117/12.350697

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available