マルコフパラメータに基づくテンセグリティ可変翼の参照追従制御
Markov Data-Based Reference Tracking of Tensegrity Morphing Airfoils
系の最初のN+1個のマルコフパラメータのみを用いて有限区間の追従誤差と入力増分を最小化する最適制御列を設計し、テンセグリティ構造の可変翼(NACA 2412)の形状追従に適用した論文。
著者: Yuling Shen, Muhao Chen, Manoranjan Majji, Robert E. Skelton
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This letter presents a data-based control design for reference tracking applications. This design finds the optimal control sequence, which minimizes a quadratic cost function consisting of tracking error and input increments over a finite interval [0,N]. The only information needed is the first N+1 Markov parameters of the system. This design is employed on a tensegrity morphing airfoil whose topology has been described in detail in this letter. A NACA 2412 airfoil with specified morphing targets is chosen to verify the developed design. The principle developed in this letter is also applicable to other structural control problems.
