Accession Number : ADA328831

Title :   Modeling, Identification, and Control Design for a Flexible Pointing System with Embedded Smart Materials.

Descriptive Note : Final rept.,

Corporate Author : POLYTECHNIC UNIV BROOKLYN NY

Personal Author(s) : Khorrami, F. ; Pillai, S. U. ; Nourbakhsh, S.

PDF Url : ADA328831

Report Date : 18 JUL 1997

Pagination or Media Count : 52

Abstract : The research effort emphasized system identification, decentralized control design, and their applications to smart structures and flexible pointing systems. The research effort had both theoretical and experimental ingredients. On the theoretical side, new system identification techniques for nonrational systems, which may be either minimum phase or nonminimum phase, were developed. The identification techniques complemented our efforts on theoretical modeling of systems with embedded and/or surface mounted smart materials. The advocated control strategies are decentralized and are robust to structured and unstructured perturbations of the system dynamics. This provides local decision making through the smart structures when multiple sensors and actuators are present. On the experimental side, we fabricated several smart composite tubes with piezoelectric sensors and actuators. One such tube (with surface mounted piezoceramic sensors and actuators) was used to replace part of the existing weapon pointing setup, namely ATB-1000, at the Army Research Laboratory at Picatinny Arsenal. Furthermore, we have developed similar experimental setups including a two-link flexible arm with piezoelectric sensors and actuators at the Control/Robotics Research Laboratory (CRRL) at Polytechnic.

Descriptors :   *ACTUATORS, *MULTISENSORS, MATHEMATICAL MODELS, ARMY RESEARCH, DECISION MAKING, COMPOSITE STRUCTURES, IDENTIFICATION, PIEZOELECTRICITY, PERTURBATIONS.

Subject Categories : Miscellaneous Materials
      Theoretical Mathematics

Distribution Statement : APPROVED FOR PUBLIC RELEASE