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Robust vibration control of flexible tensegrity structure via μ synthesis
Author(s) -
Li Tuanjie,
Ma Yujuan
Publication year - 2013
Publication title -
structural control and health monitoring
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.587
H-Index - 62
eISSN - 1545-2263
pISSN - 1545-2255
DOI - 10.1002/stc.482
Subject(s) - tensegrity , control theory (sociology) , parametric statistics , vibration control , controller (irrigation) , robust control , vibration , actuator , engineering , singular perturbation , active vibration control , control engineering , modal , computer science , control system , structural engineering , control (management) , mathematics , physics , artificial intelligence , mathematical analysis , agronomy , statistics , chemistry , electrical engineering , quantum mechanics , polymer chemistry , biology
SUMMARY μ synthesis is formed by combining the structured singular value concept and H∞ theory. The vibration control of the flexible tensegrity structure with mixed uncertainties via μ synthesis is presented. The uncertainties including parametric uncertainties of modal frequency and damping, the high‐frequency unmodeled dynamic uncertainty, and the uncertainties of sensors and actuators are analyzed. Based on the μ theory, the generalized control system of flexible structure is established. The robust stability and robust performance are analyzed in the standard framework of μ synthesis based on the μ controller which is designed by the D‐K iteration. Finally, the numerical simulation of a tensegrity structure is given. The simulation results show that μ controller can guarantee the closed‐loop system of the flexible tensegrity structure stable while exist the parametric perturbation and overflow problems simultaneously. μ controller takes greater control force to realize the rapider vibration attenuation compared with H∞ controller. The balanced realization of μ controller shows that the reduced order μ controller still meets the robust stability and performance requirements for the vibration control of the tensegrity structure. Copyright © 2011 John Wiley & Sons, Ltd.