Title :
On the elastic mode estimation aspect of a class of multibody flexible systems
Author :
Karray, F. ; Modi, V.J. ; Dwyer, T.A.W.
Author_Institution :
Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada
fDate :
5/1/1994 12:00:00 AM
Abstract :
An investigation pertaining to estimation of the elastic generalized coordinates for a given class of flexible structures is presented. To begin with, a model for studying nonlinear dynamics of the structure is described. The governing equations of motion are obtained using the Lagrangian procedure with modal discretization. Next, deformations caused by rapid slewing maneuvers are estimated using the least square estimation approach. As an alternative, a procedure based on the operator spline technique is proposed and its potential assessed. It is motivated by the need for achieving an on-line estimation procedure permitting real time control. Finally, a comparative performance study of the two procedures is undertaken using a simplified model of the flexible system
Keywords :
distributed parameter systems; dynamics; least squares approximations; parameter estimation; state estimation; Lagrangian procedure; deformations; elastic mode estimation; flexible structures; governing equations of motion; least square estimation; modal discretization; multibody flexible systems; nonlinear dynamics; online estimation; operator spline technique; rapid slewing maneuvers; real time control; Control systems; Flexible structures; Lagrangian functions; Least squares approximation; Nonlinear equations; Robust control; Shape control; Spline; Strain measurement; Vibration control;
Journal_Title :
Automatic Control, IEEE Transactions on
