Abstract
Abstract A systematic motion planning methodology for elastomechanic structures is introduced using a combination of flatness based feedforward control and state feedback control. The concept is applied to a so-called wingsail for yachts, this structure can be described as a complex flexible structure based on two curved carbon sail areas with embedded actuators allowing to generate deflections to accomplish an adaptive sail structure. Due to the complexity of the structure the finite element method (FEM) is applied to determine the equations of motion (EOMs) in terms of a high dimensional system of ordinary differential equations (ODEs). The usage of model order reduction by means of modal truncation leads to a design system of feasible dimension and also directly represents a suitable form for the determination of the flatness-based state and input parametrization. This yields an efficient approach for motion planning and feedforward control, which is amended by a state feedback controller to address model uncertainties or disturbances. Simulation results illustrate the performance of the presented two-degrees-of-freedom control approach.
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