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8 September 1993 Integrated intelligent control of flexible structures: analysis and experiments
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This study investigates the feasibility of using distributed force actuators (in addition to hub- torque) to control the tip deflection of a flexible beam-like structure during a rapid reorientation maneuver. The major objectives of the study are to assess system performance and actuator force requirements. Three feedback control schemes are compared to an open- loop control law corresponding to the rigid-body minimum-time solution. These control schemes use (1) a rate feedback hybrid controller, (2) an LQR-type hybrid controller, and (3) an LQR-type integrated controller. Comparisons between these controllers are made on the basis of actuator force required, increase in closed-loop system damping, and time required to execute a 90 degree reorientation maneuver. It was found that the rate-feedback hybrid control scheme results in high damping, but requires large peak-value forces from the actuators. The LQR-type hybrid control scheme requires lower peak-value forces from the actuators, but yields lower damping. The LQR-type integrated control scheme requires even lower actuator forces and a tip deflection that is significant only at the beginning of the maneuver, but results in an increase in the maneuver time.
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Karl D. Bilimoria, Frederick E. Garrett, Rafael Livneh, and David K. Schmidt "Integrated intelligent control of flexible structures: analysis and experiments", Proc. SPIE 1917, Smart Structures and Materials 1993: Smart Structures and Intelligent Systems, (8 September 1993);

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