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Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/11142

Title: Design of Optimal Strictly Positive Real Controllers Using Numerical Optimization for the Control of Large Flexible Space Structures
Authors: Forbes, James Richard
Advisor: Damaren, Christopher John
Department: Aerospace Science and Engineering
Keywords: passivity-based control
SPR transfer functions/matrices
robust optimal control
numerical optimization
flexible structures
Issue Date: 30-Jul-2008
Abstract: The design of optimal strictly positive real (SPR) compensators using numerical optimization is considered. The plants to be controlled are linear and nonlinear flexible manipulators. For the design of SISO and MIMO linear SPR controllers, the optimization objective function is defined by reformulating the H2-optimal control problem subject to the constraint that the controllers must be SPR. Various controller parameterizations using transfer functions/matrices and state-space equations are considered. Depending on the controller form, constraints are enforced (i) using simple inequalities guaranteeing SPRness, (ii) in the frequency domain, or (iii) by implementing the Kalman-Yakubovich- Popov lemma. The design of a gain-scheduled SPR controller using numerical optimization is also considered. Using a family of linear SPR controllers, the time dependent scheduling signals are parameterized, and the objective function of the optimizer seeks to find the form of the scheduling signals which minimizes the manipulator tip tracking error while minimizing the control effort.
URI: http://hdl.handle.net/1807/11142
Appears in Collections:Master
Institute for Aerospace Studies - Master theses

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