Adaptive output feedback control of aircraft flexible modes

The application of adaptive output feedback augmentative control to the flexible aircraft problem is presented. Experimental validation of control scheme was carried out using a three disk torsional pendulum. In the reference model adaptive control scheme, the rigid aircraft reference model and neural network adaptation is used to control structural flexible modes and compensate for the effects unmodeled dynamics and parametric variations of a classical high order large passenger aircraft. The attenuation of specific low and high frequency flexible mode depending on linear controller design specifications and adaptation parameters were observed. The effectiveness of the approach was seen in flexibility control of the high dimensional, nonminimum phase, nonlinear aircraft model with parametric uncertainties of wind and unmodeled dynamics of actuators and sensors

Nonlinear Control of a Flexible Rotor Magnetic Bearing System: Robustness and the Indefinate Model

Previously published control strategies for magnetic bearings primarily focus on linear optimal control techniques. While these methods afford many advantages, conspicuously absent from the literature are detailed attempts at nonlinear control. Here, we obtain the equations of motion of an overhung flexible rotor supported in magnetic bearings with two different levels of model sophistication. We derive a generic nonlinear controller in the manner of feedback linearization, and compare the eigenanalysis and transient response of the two rotor models under the action of this >perfect model> controller. We then proceed to obtain a robust nonlinear controller through the sliding mode technique and demonstrate that robustness by implementing it on an uncertain model.Center for Electromechanic

CyberLiveApp: a secure sharing and migration approach for live virtual desktop applications in a cloud environment

In recent years we have witnessed the rapid advent of cloud computing, in which the remote software is delivered as a service and accessed by users using a thin client over the Internet. In particular, the traditional desktop application can execute in the remote virtual machines without re-architecture providing a personal desktop experience to users through remote display technologies. However, existing cloud desktop applications mainly achieve isolation environments using virtual machines (VMs), which cannot adequately support application-oriented collaborations between multiple users and VMs. In this paper, we propose a flexible collaboration approach, named CyberLiveApp, to enable live virtual desktop applications sharing based on a cloud and virtualization infrastructure. The CyberLiveApp supports secure application sharing and on-demand migration among multiple users or equipment. To support VM desktop sharing among multiple users, a secure access mechanism is developed to distinguish view privileges allowing window operation events to be tracked to compute hidden window areas in real time. A proxy-based window filtering mechanism is also proposed to deliver desktops to different users. To support application sharing and migration between VMs, we use the presentation streaming redirection mechanism and VM cloning service. These approaches have been preliminary evaluated on an extended MetaVNC. Results of evaluations have verified that these approaches are effective and useful

Precise control of flexible manipulators

Experimental apparatus were developed for physically testing control systems for pointing flexible structures, such as limber spacecraft, for the case that control actuators cannot be collocated with sensors. Structural damping ratios are less than 0.003, each basic configuration of sensor/actuator noncollocation is available, and inertias can be halved or doubled abruptly during control maneuvers, thereby imposing, in particular, a sudden reversal in the plant's pole-zero sequence. First experimental results are presented, including stable control with both collocation and noncollocation

Dynamics of a flexible rotor in magnetic bearings

Discussed is a magnetic bearing which was designed and tested in a flexible rotor both as support bearings and as a vibration controller. The design of the bearing is described and the effect of control circuit bandwidth determined. Both stiffness and damping coefficients were measured and calculated for the bearing with good agreement. The bearings were then placed in a single mass rotor as support bearings and the machine run through two critical speeds. Measurements were made of the vibration response in plain bushings and magnetic bearings. Comparisons were also made of the theoretical calculations with the measured peak unbalance response speeds. Finally, runs were made with the magnetic bearing used as a vibration controller

Multiobjective control of a four-link flexible manipulator: A robust H∞ approach

Copyright [2002] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This paper presents an approach to robust H∞ control of a real multilink flexible manipulator via regional pole assignment. We first show that the manipulator system can be approximated by a linear continuous uncertain model with exogenous disturbance input. The uncertainty occurring in an operating space is assumed to be norm-bounded and enter into both the system and control matrices. Then, a multiobjective simultaneous realization problem is studied. The purpose of this problem is to design a state feedback controller such that, for all admissible parameter uncertainties, the closed-loop system simultaneously satisfies both the prespecified H∞ norm constraint on the transfer function from the disturbance input to the system output and the prespecified circular pole constraint on the closed-loop system matrix. An algebraic parameterized approach is developed to characterize the existence conditions as well as the analytical expression of the desired controllers. Third, by comparing with the traditional linear quadratic regulator control method in the sense of robustness and tracking precision, we provide both the simulation and experimental results to demonstrate the effectiveness and advantages of the proposed approach

Generalizing Negative Imaginary Systems Theory to Include Free Body Dynamics: Control of Highly Resonant Structures with Free Body Motion

Negative imaginary (NI) systems play an important role in the robust control of highly resonant flexible structures. In this paper, a generalized NI system framework is presented. A new NI system definition is given, which allows for flexible structure systems with colocated force actuators and position sensors, and with free body motion. This definition extends the existing definitions of NI systems. Also, necessary and sufficient conditions are provided for the stability of positive feedback control systems where the plant is NI according to the new definition and the controller is strictly negative imaginary. The stability conditions in this paper are given purely in terms of properties of the plant and controller transfer function matrices, although the proofs rely on state space techniques. Furthermore, the stability conditions given are independent of the plant and controller system order. As an application of these results, a case study involving the control of a flexible robotic arm with a piezo-electric actuator and sensor is presented