Local control design methodologies for a hierarchic control architecture

Many active structures, such as smart skins or optical mirrors, require a high density of sensors and actuators to achieve the desired levels of performance. The problems associated with the design and implementation of controllers for this group of active structures have previously led to the development of a hierarchic control architecture. By combining a centralized global controller and a set of residual controllers in a two level arrangement, the architecture removes many of these design and implementation difficulties. The central controller is based on aggregate structural information, and the residual, or local, controllers are distributed to complement the dynamic behavior of the structure. Three decentralized methodologies that are suitable for implementation as local controllers in the hierarchic architecture are developed and analyzed in this paper. Consistent with many applications for smart skins and typical mirror designs, these controllers are developed for structures that exhibit a high degree of spatial symmetry. The three approaches are distinguished by the communication constraints imposed during the control design process. The first design only allows collocated feedback. The second technique constrains the exchange of information to be within an isolated region of the structure. The third approach permits communication between adjacent local controllers, so that measurements from neighboring regions of the structure are available. Simulation results from the control of a long beam in bending are used to compare these local control design methodologies in terms of both the overall performance and implementation requirements.

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