変位出力を用いたプロパーな局所コントローラによる大型宇宙構造物の分散最適制御

概要

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Direct Velocity and Displacement Feedback (DVDFB) has been known as a position and attitude control method for large space structures (LSS) composed of a number of subsystems under the assumption of sensors/actuators collocation. DVDFB realizes robust stability against uncertain parameters of LSS and it makes a closed-loop system optimal for a quadratic cost function. However, both velocity sensors and displacement sensors are needed for implementing DVDFB. It is desirable to use only displacement sensors for reduction of costs. Therefore, we have proposed approximated DVDFB by a proper controller using only displacement output. In this paper, we propose a decentralized control method using the approximated DVDFB as local controllers. It is shown that the overall closed-loop system becomes an optimal regulator for a quadratic cost function by choosing appropriate parameters of the local controllers and we illustrate a numerical example in which the proposed method robustly stabilizes a space structure against uncertain parameters.
神戸市立工業高等専門学校の論文
2006-03-01