Reduced-Order Model Based Control of Large Flexible Manipulators: Theory and Experiments

Active control of large flexible structure requires the use of reduced-order model control algorithms. Inherent in the application of ROM control schemes is the problem of controller / structure interaction (CSI). We address the issue of CSI through residual mode filter compensation which is added onto the ROM controller. The design of the ROM-based control law considers only system performance, while the RMF design insures closed-loop system stability. Here, we examine this partitioned design method in its discrete-time representation, focusing on its application to a flexible manipulator.