국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	Evolving Systems: Adaptive Key Component Control and Inheritance of Passivity and Dissipativity
저자	Frost, S. A.;; Balas, M. J.
Keyword	ADAPTIVE CONTROL;; ENERGY DISSIPATION;; LARGE SPACE STRUCTURES;; NONLINEAR SYSTEMS;; PASSIVITY;; SELF ASSEMBLY;; STABILITY;; SYSTEMS ENGINEERING
URL	http://hdl.handle.net/2060/20100036594
보고서번호	ARC-E-DAA-TN1595
발행년도	2010
출처	NTRS (NASA Technical Report Server)
ABSTRACT	We propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. Autonomous assembly of large, complex flexible structures in space is a target application for Evolving Systems. A critical requirement for autonomous assembling structures is that they remain stable during and after assembly. The fundamental topic of inheritance of stability, dissipativity, and passivity in Evolving Systems is the primary focus of this research. In this paper, we develop an adaptive key component controller to restore stability in Nonlinear Evolving Systems that would otherwise fail to inherit the stability traits of their components. We provide sufficient conditions for the use of this novel control method and demonstrate its use on an illustrative example.