| his dissertation presents an adaptive robust control methodology for systems with structural flexibility. The research is relevant to many aerospace applications where large variations in payloads are a concern. These include lightweight, dexterous space manipulators, advanced launch vehicles, and space transportation vehicles (STV's).;The approach combines a robust system identification algorithm with an ;Two scenarios are presented: an initial system identification phase to tune the controller, and system identification following a payload change to redesign the controller with the new plant model. During the system identification phase a low performance controller is used which is stable over the entire operating range. A deadzone criterion is used to turn the estimator off and thus to initiate the... |
