Decentralized robust servomechanism problem for large flexible space structures under sensor and actuator failures

Abstract

The decentralized robust servomechanism problem (DRSP) for large flexible space structures (LFSS) under sensor and actuator failures is considered. Failure conditions are modelled by failure matrices. This permits a unified treatment of sensor and actuator failures. For colocated LFSS, stabilization, tracking of constant set points, and regulating constant disturbances can be simultaneously handled using a decentralized tuning PID output-feedback controller. Necessary and sufficient conditions for solvability of the DRSP for colocated LFSS under sensor and actuator failures are derived. Two detailed examples demonstrate the effectiveness of the controller.

Multiple Faults Detection and Isolation via Decentralized Sliding Mode Observer for Reconfigurable Manipulator

“…However, the communication time delay among the modules will lead to the inaccurate performance [7]. Take the modularization property and interconnection into account, decentralized control strategy was established [8][9][10][11][12] to overcome these shortcomings. It can not only effectively reduce the computational burden in centralized control, but also avoid communication time delay in distributed control, thus it is more feasible to implement to reconfigurable manipulators.…”