Effects of Colocation and Non-Colocation of Sensors and Actuators on Flexible Structures

Abstract

This thesis compares the performance and robustness of colocated and non-colocated sensor/actuator pairs. Linear quadratic Gaussian and loop transfer recovery (LOG/LTR) procedures are used to design optimum controllers for three example problems. The first example is a single motion degree-of-freedom system having motion only about one axis. This type of system does not have any right half plane zeros for the non-colocated case; however, the thesis shows it behaves as a non minimum phase system. The second example is a Bernoulli-Euler beam which does not have RHP zeros. An optimum LOG/LTR controller can not improve the robustness of non minimum phase systems; whereas, colocated systems are easy to stabilize and make robust with LTR. However, this thesis shows that non colocated systems can achieve higher bandwidth and performance. So, each system has its own advantage.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1991
Accession Number
ADA238457

Entities

People

  • W. C. Lee

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Actuators
  • Air Force
  • Closed Loop Systems
  • Computational Science
  • Control Systems
  • Control Systems Engineering
  • Control Theory
  • Engineering
  • Estimators
  • Flexible Structures
  • Frequency Response
  • Jet Propulsion
  • Kalman Filters
  • Mathematical Filters
  • Modal Analysis
  • Partial Differential Equations
  • Resonant Frequency

Readers

  • Control Systems Engineering.
  • Robotics and Automation.