Robust Control of Redundantly Actuated Dynamical Systems

The eigenstructure assignment scheme for robust multivariable state feedback control is extended to redundantly actuated dynamical systems. The fact that the plants that are atleast square allow for the exact assignment of an arbitrary orthonormal set of closed loop eigenvectors makes this methodology attractive for feedback controller design poorly modeled dynamical systems. For second order mechanical systems, a partial eigenstructure assignment methodology is presented which simplifies the scheme of pole assignment for real target sub-modal matrix. An optimal allocation strategy is derived for redundant control inputs to minimize an integral cost function. A novel adaptive aggregation procedure is introduced to handle problems with very high redundancy in actuation. The aggregation approach along with the eigenstructure assignment methodology is applied to the wing morphing problem. The robust redundant actuation procedure is demonstrated on a mathematical model constructed from the wind tunnel test data of the novel morphing wing model designed and developed at Texas A & M University.