Adaptive CSI Compensation for Reduced-Order-Model-Based Control of a Flexible Robot Manipulator

It is not feasible to construct controllers for large space structures or large scale systems (LSS´s) which are of the same order as the structures. Because of this, the controller for system performance of such a system is based on a much smaller reduced-order model (ROM). Unfortunately, the interaction between the LSS and the ROM-based controller can produce instabilities in the closed-loop system due to the unmodeled dynamics of the LSS. Residual mode filters (RMF´s) allow the systematic removal of these instabilities in a matter which does not require a redesign of the controller. An adaptive, self-tung RMF design, which compensates for uncertainty in the frequency of the residual mode, has been simulated using the continuous-time and discrete-time models of a flexible robot manipulator. This paper will present the results of that work on adaptive, self-tuning RMF´s, and will clearly show the advantages of this adaptive compensation technique for controller-structure interaction (CSI) instabilities in actively-controlled LSS´s.