Abstract
This paper considers robust decentralized control of large space structures composed of interconnected substructures. A local controller is applied to each substructure with collocated displacement/angle sensors and force/torque actuators. The idea of DVDFB (direct velocity and displacement feedback) is adopted for control robustness. A filter of a relative degree 2 is introduced at each input channel to approximate DVDFB by a strictly proper controller for implementation. It is shown that the overall closed-loop system becomes stable and optimal for a frequency-dependent quadratic cost function by choosing the filter parameters and the DVDFB gains appropriately.
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