Abstract
Daisy is an experimental testbed facility at the University of Toronto’s Institute for Aerospace Studies (UTIAS) whose dynamics are meant to emulate those of a real large flexible space structure (LFSS); see Figure 1 [8]. The purpose of the facility is to test advanced identification and multivariable control design methods. Modeled roughly to resemble the flower of the same name, Daisy consists of a rigid hub (the “stem”) mounted on a spherical joint and on top of which are ten ribs (the “petals”) attached through passive two-degree-of-freedom rotary joints and low-stiffness springs. Each rib is coupled to its two neighbors via low-stiffness springs. The hub would represent the rigid part of a LFSS, while the ribs would model its flexibilities.
Supported through scholarships from the Natural Sciences and Engineering Research Council (NSERC) of Canada, the Fonds pour la formation de chercheurs et l’aide à la recherche, Québec, and a Walter C. Sumner Memorial Fellowship.
Supported by NSERC.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
G.J. Balas and J.C. Doyle, Robustness and Performance Tradeoffs in Control Design for Flexible Structures. Proc. of the 1991 Amer. Control Conf.
G.J. Balas, J.C. Doyle, K. Glover, A. Packard, and R. Smith, μ-Analysis and Synthesis Toolbox: User’s Guide. The Mathworks Inc., 1991.
B. Boulet, B.A. Francis, P.C. Hughes, and T. Hong, Robust control of large flexible space structures using a coprime factor plant description. Proc. of the 1994 Amer. Cont. Conf., Baltimore, Maryland, pp. 265–266.
B. Boulet, B.A. Francis, P.C. Hughes, and T. Hong, Robust H∞ Control of Large Flexible Space Structures Using a Coprime Factor Plant Description. Systems Control Group Report No. 9401, Dept. of Electrical and Computer Engineering, University of Toronto, 1994.
R.P. Braatz, P.M. Young, J.C. Doyle, and M. Morari, Computational Complexity of μ Calculation. IEEE Trans. Aut. Control, Vol. 39, No. 5, pp. 1000–1002, May 1994.
S.A. Buddie, T.T. Georgiou, U. Özgüner, and M.C. Smith, Flexible structure experiment at JPL and WPAFB: H∞ controller designs. Int. J. Control, Vol. 58, No. 1, pp. 1–19, 1993.
E.G. Collins Jr., D.J. Phillips, and D.C. Hyland, Robust Decentralized Control Laws for the ACES Structure. IEEE Control Syst. Magazine, Vol. 11, No. 3, pp. 62–70, April 1991.
G.W. Crocker, P.C. Hughes, and T. Hong, Real-Time Computer Control of a Flexible Spacecraft Emulator. IEEE Control Syst. Magazine, Vol. 10, No. 1, pp. 3–8, January 1990.
E.J. Davison, W. Gesing, and S.H. Wang, An Algorithm for Obtaining the Minimal Realization of a Linear Time-Invariant System and Determining if a System is Stabilizable-Detectable. IEEE Trans. Aut. Control, Vol. 23, No. 6, pp. 1048–1054, December 1978.
J.C. Doyle, K. Glover, P.P. Khargonekar, and B.A. Francis, State-Space Solutions to Standard H 2 and H ∞ Control Problems. IEEE Trans. Aut. Control, Vol. 34, No. 8, pp. 831–847, August 1989.
M.K.H. Fan, A.L. Tits, and J.C. Doyle, Robustness in the Presence of Mixed Parametric Uncertainty and Unmodeled Dynamics. IEEE Trans. Aut. Control, Vol. 36, No. 1, pp. 25–38, January 1991.
C.Z. Gregory Jr., Reduction of Large Flexible Spacecraft Models Using Internal Balancing Theory. AIAA J. of Guid., Contr. and Dyn., Vol. 7, No. 6, Nov.-Dec. 1984.
R.A. Horn and C.R. Johnson, Matrix Analysis, Cambridge Univ. Press, 1990.
J.P. How, W.M. Haddad, and S.R. Hall, Robust Control Synthesis Examples with Real Parameter Uncertainty using the Popov Criterion. Proc. of the Amer. Control Conf., San Francisco, June 1993.
J.P. How, S.R. Hall, and W.M. Haddad, Robust Controllers for the Middeck Active Control Experiment using Popov Controller Synthesis. IEEE Trans. Control Syst. Tech., Vol. 2, No. 2, pp. 73–87, June 1994.
S.M. Joshi, Control of Large Flexible Space Structures. Lecture Notes in Control and Information Sciences, Vol. 131, New-York: Springer-Verlag, 1989.
D.G. Laurin, Development of an Optical Imaging System for Shape Monitoring of Large Flexible Structures. Ph.D. Thesis, Dept. of Aerospace Eng., Univ. of Toronto, 1992.
F.C. Lee, H. Flashner, and M.G. Safonov, Positivity Embedding for Noncolocated and Nonsquare Flexible Structures. Proc. of the Amer. Control Conf., June 1994, Baltimore, Maryland.
K.B. Lim and G.J. Balas, Line-of-sight Control of the CSI Evolutionary Model: μ Control. Proc. of the 1992 Amer. Control Conf.
K.B. Lim, P.G. Maghami, and S.M. Joshi, Comparison of Controller Designs for an Experimental Flexible Structure. IEEE Control Syst. Magazine, Vol. 12, No. 3, pp. 108–118, June 1992.
D.C. McFarlane and K. Glover, Robust Controller Design Using Normalized Coprime Factor Plant Descriptions, Springer-Verlag, 1990.
D.G. Meyer, A Fractional Approach to Model Reduction. Proc. of the Amer. Control Conf, pp. 1041–1047, 1988, Atlanta.
B.C. Moore, Principal Component Analysis in Linear Systems: Controllability, Observability, and Model Reduction. IEEE Trans. Aut. Control, Vol 26, No. 1, pp. 17–32, February 1981.
R.E. Skelton and P.C. Hughes, Modal Cost Analysis for Linear Matrix-Second-Order Systems. ASME J. Dyn. Syst, Meas., and Cont., Vol. 102, pp. 151–158, September 1980.
R.S. Smith, C.-C. Chu, and J.L. Fanson, The Design of H ∞ Controllers for an Experimental Non-collocated Flexible Structure Problem. IEEE Trans. Control Syst. Tech., Vol. 2, No. 2, pp. 101–109, June 1991
M. Vidyasagar, Control System Synthesis: A Coprime Factorization Approach. MIT press, 1985.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1995 Springer-Verlag London Limited
About this paper
Cite this paper
Boulet, B., Francis, B.A., Hughes, P.C., Hong, T. (1995). Daisy: A Large Flexible Space Structure Testbed for Advanced Control Experiments. In: Isidori, A. (eds) Trends in Control. Springer, London. https://doi.org/10.1007/978-1-4471-3061-1_5
Download citation
DOI: https://doi.org/10.1007/978-1-4471-3061-1_5
Publisher Name: Springer, London
Print ISBN: 978-1-4471-3063-5
Online ISBN: 978-1-4471-3061-1
eBook Packages: Springer Book Archive