A Study of Large Flexible Space Structure Control Using γ-Passivity

本研究的目的是：1）发展一种基于γ-无源性概念的控制器设计方法; 2）验证大型柔性空间结构振动的γ-无源性控制。该方法的特点是既能确定控制系统的幅相裕度，又能保证系统对非结构不确定性的鲁棒稳定性。指出H ∞控制是鲁棒控制系统的一种标准设计方法，它不能指定期望的幅相裕度。因此，在这项研究中提出的方法是更灵活的比H ∞控制。以柔性结构控制为例，对该方法进行了实验验证。控制的目的是抑制振动和调整结构的角位置。控制的困难在于角位置的移动刺激结构的高频振动。因此，在位置的沉降性能和振动性能之间存在折衷。针对这一难题，控制系统的设计应提高调节性能，并保证对未建模高频动态的鲁棒稳定性。伽马无源性控制，更一般地说，基于耗散性概念的控制已被证明是有效的上述要求，理论和实验。

The purpose of this study is 1) to develop a controller design method based on the notion of gamma-passivity and 2) to validate the gamma-passivity control for the vibration of large flexible space structures. The feature of the method is to enable us to specify gain and phase margins of control systems as well as to guarantee the robust stability for usual unstructured uncertainty. The H-infinity control which is known as a standard design method for robust control systems is pointed out not to be specify desired gain and phase margins. Therefore, the method proposed in this study is more flexible than the H-infinity control. An experimental validation of the method has been made for a flexible structure control. The aim of the control is to suppress the vibration and to regulate the angular position of the structure. The difficulty of the control is that the movement of the angular position stimulates high-frequency vibrations of the structure. Consequently, there is a tradeoff between the performance of settlement of the position and vibration. Toward such difficulty, the control system should be designed to improve the regulation performance and to guarantee the robust stability for unmodelled high-frequency dynamics. The gamma-passivity control, more generally, a control based on the notion of dissipativity has been shown to be effective the requirement mentioned above, theoretically and experimentally.