Adaptive Modal Space Control of Flexible Structures: Theory

Adaptive control of a flexible continuous structure is investigated. The application is directed toward large sensor count and several actuator systems,(multiple input / multiple output (MIMO) control. Conventional large channel count control applications involve complicated techniques to determine the proper order of the model and the dominant modes to be controlled. Using spatial filtering to transform the control problem to modal space, the order is tied (two) and control effort is expended only on problem modes. The response is mapped to modal space through the use of Modiiied Fieciprocal Modal Filter Vectors and control is achieved through parallel Self-Tuning regulators; force is then appropriated through the modal participation vectors. Development and stability analysis of these reduced order regulators for acceleration feedback is presented for an experimentally developed model of a cantilever beam