Modeling, Analysis and Control of Multiple-Link Flexible Structures

摘要

The project had four major goals. The first was the development of distributedparameter models of the transient behavior of some or all of the state and internal variables describing the motion of multiple-link flexible structures. The structures under consideration consist of finitely many interconnected flexible elements such as strings, beams, plates arid shells or combinations thereof and are representative of trusses, frames, robot arms, solar panels, antennae, deformable mirrors, etc. The second goal of the project was to provide rigorous mathematical analyses of the resulting models. Its third goal was to develop control theoretic properties of, and control strategies for, multiple-link flexible structures based on the control-theoretic properties of the models. The fourth emphasis was on model validation and illustration with the aid of extensive numerical simulations of the predictive capabilities of the mathematical models. (AN).