DocumentCode
3084185
Title
Passivity-based control of elastic systems
Author
Joshi, S.M. ; Kelkar, A.G.
Author_Institution
NASA Langley Res. Center, Hampton, VA, USA
fYear
1997
fDate
5-7 Oct. 1997
Firstpage
724
Lastpage
729
Abstract
This paper addresses passivity-based control of elastic systems. For inherently passive nonlinear and linear elastic systems such as flexible structures with collocated and compatible actuators and sensors, robust linear and nonlinear control laws are presented. For linear elastic systems that are inherently nonpassive, a method is presented to render them passive by compensation. The resulting system can then be controlled by a class of passive linear controllers. The method is applied to two elastic systems and is found to give robust stability and performance.
Keywords
compensation; elasticity; flexible structures; robust control; actuator-sensor collocation; actuator-sensor compatibility; flexible structures; inherently nonpassive system compensation; linear elastic systems; nonlinear elastic systems; passivity-based control; robust linear control laws; robust nonlinear control laws; Aerodynamics; Control systems; Ear; Flexible structures; Hydraulic actuators; Mechanical sensors; NASA; Nonlinear control systems; Sensor systems; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location
Hartford, CT, USA
Print_ISBN
0-7803-3876-6
Type
conf
DOI
10.1109/CCA.1997.627745
Filename
627745
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