Modern Optimal Control Methods Applied in Active Control of a Tetrahedron.
Abstract
Modern optimal control methods are applied to a lumped mass model of a tetrahedron. The four unit masses of this model are interconnected by isotropic massless rods which are capable of axial deformation only (no bending). System control is achieved via collected sensor/actuator pairs at three of the four masses. The controller is developed using linear optimal techniques which produce feedback gains proportional to the state. The state is represented as modal amplitudes and velocities as determined by the sensors. The four higher frequency modes are truncated to signify a simplifying order reduction step. State estimation is incorporated due to the non-availability of modal amplitudes and velocities. The feedback gains are established via steady state optimal regulator theory. Control is applied with point force actuators. System response is examined in light of the effects of observation spillover and control spillover onto a specified number of suppressed modes. An attempt to control two modes and suppress six demonstrates the advantages of spillover elimination, but fails to satisfy the specified response criteria.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 1980
- Accession Number
- ADA094766
Entities
People
- Alan Michael Janiszewski
Organizations
- Air Force Institute of Technology