Experiments in multivariable adaptive control of a large flexible structure

Abstract

A six-input/six-output multivariable adaptive controller is used to control a large 3-dimensional flexible structure experiment. For this purpose, the JPL/AFAL antenna-like experiment structure is used, with instrumentation distributed on both the hub and the ribs. This represents a significant increase in complexity relative to earlier adaptive control experiments performed on the same structure, utilizing a two-input/two-output set-up with instrumentation on the hub alone. The increase in instrumentation significantly increases spatial controllability, and excitation and control of a much larger set of modes. This paper documents multivariable adaptive control experiments on this structural configuration, and discusses many of the associated design and implementation issues required for successful operation.