文章基本信息

标题：Robust Control of a Lightweight Structure for Digital Fabrication
本地全文：下载
作者：Yvonne R. Stürz ; Andrea Iannelli ; Roy S. Smith 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：7424-7430
DOI：10.1016/j.ifacol.2020.12.1287
语种：English
出版社：Elsevier
摘要：AbstractFor a material efficient construction process of lightweight concrete shells, tensioned cable nets can be used as a supporting formwork. In order to guarantee the mechanical stability of the shells, tight tolerances in their form need to be met. To this end, methods have recently been proposed to readjust the form of the cable net on the construction site. This paper proposes a novel view on the cable net model as a dynamical system and derives robust control approaches based on H∞andμsynthesis. Both approaches can account for input uncertainties and external disturbances. Theμcontroller additionally is robust against the uncertain model parameters, which makes their precise identification unnecessary. Theμsynthesis also provides a priori bounds on the allowable fabrication tolerances of the cable net in order to guarantee robust performance of the closed-loop system. The resulting LTI controllers can be applied to the system without expert knowledge about the system model or the underlying optimization. The effectiveness of the controllers is demonstrated in numerical experiments.
关键词：KeywordsRobust ControlModel Uncertaintyμ-SynthesisDigital FabricationLightweight Structures