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Proceedings Paper

Robust adaptive control of a slewing active structure
Author(s): David G. Wilson; Gordon G. Parker; Gregory P. Starr; Rush D. Robinett
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Paper 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.

Paper Details

Date Published: 9 June 1999
PDF: 11 pages
Proc. SPIE 3668, Smart Structures and Materials 1999: Smart Structures and Integrated Systems, (9 June 1999); doi: 10.1117/12.350697
Show Author Affiliations
David G. Wilson, Univ. of New Mexico (United States)
Gordon G. Parker, Michigan Technological Univ. (United States)
Gregory P. Starr, Univ. of New Mexico (United States)
Rush D. Robinett, Sandia National Labs. (United States)


Published in SPIE Proceedings Vol. 3668:
Smart Structures and Materials 1999: Smart Structures and Integrated Systems
Norman M. Wereley, Editor(s)

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