Analytical and experimental study of control effort associated with model reference adaptive control

During the past decade, researchers have shown much interest in control and identification of Large Space Structures (LSS). Our inability to model these LSS accurately has generated extensive research into robust controllers capable of maintaining stability in the presence of large structural uncertainties as well as changing structural characteristics. In this work the performance of Model Reference Adaptive Control - (MRAC) is studied in numerical simulations and verified experimentally, to understand how differences between the plant and the reference model affect the control effort. MRAC is applied analytically and experimentally to a single-degree-of-freedom system and analytically to a multi-degree-of-freedom system with multi-inputs and multi-outputs. Good experimental and analytical agreement is demonstrated in control experiments and it is shown that MRAC does an excellent job of controlling the structures and achieving the desired performance even when large differences between the plant and ideal reference model exist. However, it is shown that reasonable differences between the reference model and the plant significantly increase the required control effort. The effects of increased damping in the reference model are considered, and it is shown that requiring the controller to provide increased damping actually decreases the required control effort when differences between the plant and reference model exist. This result is very useful because one of the first attempts to counteract the increased control effort due to differences between the plant and reference model might be to require less damping, however, this would actually increase the control effort. The use of optimization to successfully improve performance and reduce control effort is shown to be limited, because the actual control-structure system can not realize all the performance improvements of the analytical optimal system. Finally, it is shown that very large sampling rates may be required to accurately implement MRAC.

Name thesis:degree_name

Ph. D.

Level thesis:degree_level

doctoral

Discipline thesis:degree_discipline

Aerospace Engineering

Department dc:contributor.department

Aerospace Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

1992

Author dc:creator

• Messer, Richard Scott

Chairs dc:contributor.committeechair

• Haftka, Raphael T.
• Cudney, Harley H.

Committee members dc:contributor.committeemember

• Kapania, Rakesh K.
• Hendricks, Scott L.
• Lutze, Frederick H.
• Durham, Wayne C.

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Language dc:language.iso

en

Dc Identifier Other

etd-06062008-165637

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/38340