Generalizing Negative Imaginary Systems Theory to Include Free Body Dynamics: Control of Highly Resonant Structures With Free Body Motion

Negative imaginary (NI) systems play an important role in the robust control of highly resonant flexible structures. In this paper, a generalized NI system framework is presented. A new NI system definition is given, which allows for flexible structure systems with colocated force actuators and posi...

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Veröffentlicht in:	IEEE transactions on automatic control 2014-10, Vol.59 (10), p.2692-2707
Hauptverfasser:	Mabrok, Mohamed A., Kallapur, Abhijit G., Petersen, Ian R., Lanzon, Alexander
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Control systems Dynamical systems Dynamics Flexible structures Force Matrix decomposition Nickel Robots Robust control Sensors Stability Stability analysis Transfer functions
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