Item – Theses Canada

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OCLC number
1334507570
Link(s) to full text
LAC copy
Author
Forbes, James Richard.
Title
Design of Optimal Strictly Positive Real Controllers Using Numerical Optimization for the Control of Large Flexible Space Structures.
Degree
MAST -- University of Toronto, 2008.
Publisher
[Toronto, Ontario] : University of Toronto, 2008
Description
1 online resource
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.
Other link(s)
tspace.library.utoronto.ca
hdl.handle.net
Subject
passivity-based control
SPR transfer functions/matrices
robust optimal control
numerical optimization
flexible structures