遺伝的アルゴリズムによる大型宇宙構造物の分散制御における局所コントローラの最適配置

概要

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This paper considers an optimal assignment problem of local controllers for large space structures(LSS) which are composed of a number of flexible subsystems. It has been reported that direct velocity and displacement feedback(DVDFB) is effective as a position and attitude control method for flexible space structures under sensors/actuators collocation. The DVDFB can be extended to a decentralized control scheme for the above LSS. When we adopt decentralized DVDFB, it is necessary to decide on which subsystems we assign local controllers. To solve the problem, we propose a computational method to design an assignment pattern of local controllers using genetic algorithm, which minimizes a quadratic cost function of displacements/angular displacements and control inputs of the overall closed-loop system. Finally, we illustrate a numerical example in which we obtain an optimal assignment pattern of local controllers by the proposed method.
神戸市立工業高等専門学校の論文