Adaptive Feedforward and Feedback Compensation for Flexible Weapon Pointing Systems.
Abstract
In this paper, active control of flexible structures, e.g., weapon systems, using feedback and feedforward compensation is considered. Specifically, dynamic feedback design utilizing signals from the accelerometer mounted on the structure is discussed. Furthermore, utilization of adaptive input precompensators in conjunction with nonlinear controllers for flexible structures is proposed. The flexible pointing system considered here is the test-bed at the Army Research Development Engineering Center (ARDEC) at Picatinny Arsenal, which is a scaled-down representation of real-life targetting systems. The approaches advocated here are based on Youla's parametrization of stabilizing controllers, Wiener-Hopf design, feedback linearization and input preshaping. The results on the ARDEC setup indicate a significant improvement in performance with the Weiner-Hopf design. Results on the adaptive feedback and feedforward scheme are presented for the flexible arm at CRRL.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 1993
- Accession Number
- ADP009083
Entities
People
- Farshad Khorrami
- J. Rastegar
- M. Mattice
- N. Coleman Jr
- Sandeep Jain