Shuichi Adachi

Identification and Control Experiments for a Large Space Structure

Abstract This paper presents results on studying the identification and attitude control problem for an LSS (large space structure). The proposed identification method is based on Biermans UD factorization method where the order of the identification model is determined by the frequency domain criterion, that is, the whiteness of the residual sequence. Two control methods, i.e. (i) I-PD control and (ii) optimal regulator are described. In particular, an optimal regulator was designed to locate all the closed-loop eigenvalues in a given region which may realize the desired dynamic behavior of the closed-loop system, so the control system has a large vibration suppression capability. The efficiency of these proposed identification and control method is shown by a ground-based test model.

Robust indirect adaptive control combined with frequency domain methods and its application to robot

The authors propose combining indirect adaptive control, which has wide applications, with frequency-domain methods and show the schemes application to a robot. In order to identify the wide-frequency response of a controlled system from the input-output data accurately, a multiple recursive identification method, combined with the decimation technique, is presented. The control parameters of a two-degrees-of-freedom PID control system, are determined by using the model matching method in the cutoff frequency region on the basis of the identified frequency response. Adaptive control based on frequency-domain methods can be widely applied to controlled systems, including not only minimum-phase systems but also nonminimum phase systems, even at the fast sampling rate. The superior features of the adaptive control scheme are summarized and its effectiveness is shown through experiments using an industrial robot.<<ETX>>

IDENTIFICATION AND CONTROL EXPERIMENTS FOR A LARGE SPACE STRUCTURE

This paper presents results on studying the identification and attitude control problem for an LSS (large space structure). The proposed identification method is based on Biermans UD factorization method where the order of the identification model is determined by the frequency domain criterion, that is, the whiteness of the residual sequence. Two control methods, i.e. (i) I-PD control and (ii) optimal regulator are described. In particular, an optimal regulator was designed to locate all the closed-loop eigenvalues in a given region which may realize the desired dynamic behavior of the closed-loop system, so the control system has a large vibration suppression capability. The efficiency of these proposed identification and control method is shown by a ground-based test model.