Fundamental Study on Modeling and Vibration and Motion Control for Flexible Structures with Many Vibration modes to be controlled

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This project presents two types of modeling methods to adapt motion and multi modes of vibration control of flexible structures with many modes to be controlled. For controlling them, it is important to precisely express these dynamic behaviors as simply as possible ; for example, by lumped mass or mathematical models. The Reduced-order physical modeling method makes a lumped mass model of the distributed structure, and designs a controller in a physical state-space where the states are directly measurable.Another method, EROP-order physical modeling, is improved to treat a large motion of flexible structures like space robot arms. Both models are constructed using experimentally or analytically obtained vibration mode shapes. Effectiveness of these modeling methods is experimentally demonstrated by showing that the motion and multi modes of vibration of many kinds of flexible structures are well controlled.