Paper Info
Title
A Hierarchical Control Distribution Approach for Large Scale Over Actuated Systems
Abstract
A general hierarchical methodology for control distribution in highly redundant system is presented. The new method makes use of distribution functions to approximate the feasible solution set and to keep in check the "curse of dimensionality". To improve the performance of the distribution function approach a hierarchical approach is proposed which decomposes a large scale control distribution problem in to many small scale control distribution problems to compromise the need for real-time computation against optimality. The main advantage of the proposed hierarchical approach is the de-coupling of many small scale problems from each other. The convergence and accuracy of the proposed method are demonstrated by numerical studies. I. INTRODUCTION In this paper, we consider the control distribution prob- lem for highly over-actuated systems which arises with the development of embedded actuation systems. In the last one decade there are significant advances in the fields of Micro Electro Mechanical Systems (MEMS), Nano Electro Mechanical Systems (NEMS) and nano bio systems. It is anticipated that advancements in these technologies together will lead to the development of adaptive, intelligent and shape controllable structures for future aircraft and space sys- tems. The design of such advanced system involves control of the shape of the structures with highly redundant micro and nano level manipulations (actuation). Actuators embedded in conventional structural materials at discrete or distributed locations can be used to achieve these objectives by changing ("morphing") surface shape. Currently existing smart struc- ture actuators are Shape Memory Alloys (SMAs), piezo- electric and electrostrictive ceramics, electro- and magneto- rheological fluids, Synthetic Jet Actuators (SJAs) and active elastomers. Current research activities in nano technologies are aimed at engineering these functionalities into materials at molecular and atomic scales. Such systems can have quite a large number of actuators (» 106) which collectively produce the required control effort and lead to controller design problem in which the number of control components may exceed the degrees of freedom of the system by several order of magnitude. There is no doubt that with such massive redundancy in control variables, one can achieve precise and fault-tolerant control. However, the main challenge lies in developing control approaches that scale efficiently with a large number of control variables.
Year
DOI
Venue
2007
10.1109/ACC.2007.4283131
american control conference
Keywords
DocType
ISSN
distributed control,hierarchical systems,large-scale systems,distribution functions,hierarchical control distribution approach,highly redundant system,large scale over actuated systems
Conference
0743-1619 E-ISBN : 1-4244-0989-6
ISBN
Citations 
PageRank 
1-4244-0989-6
1
0.46
References 
Authors
4
2
Name
Order
Citations
PageRank
Puneet Singla110115.25
John L Junkins2173.81