Analysis and design of robust decentralized controllers for nonlinear systems

Technical Report · Thu Jul 01 00:00:00 EDT 1993

DOI:https://doi.org/10.2172/10179163· OSTI ID:10179163

Schoenwald, D A

Decentralized control strategies for nonlinear systems are achieved via feedback linearization techniques. New results on optimization and parameter robustness of non-linear systems are also developed. In addition, parametric uncertainty in large-scale systems is handled by sensitivity analysis and optimal control methods in a completely decentralized framework. This idea is applied to alleviate uncertainty in friction parameters for the gimbal joints on Space Station Freedom. As an example of decentralized nonlinear control, singular perturbation methods and distributed vibration damping are merged into a control strategy for a two-link flexible manipulator.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 10179163
• Report Number(s): ORNL/TM--12181; ON: DE93019224
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200
99 GENERAL AND MISCELLANEOUS
990200
COMPUTERIZED CONTROL SYSTEMS
FACILITIES, EQUIPMENT, AND TECHNIQUES
MATHEMATICAL MODELS
MATHEMATICS AND COMPUTERS
NONLINEAR PROBLEMS
SENSITIVITY ANALYSIS
SPACE VEHICLES