VibroAcoustics Laboratory Vanderbilt University Distributed Control with Networked

Vibro-Acoustics Laboratory Vanderbilt University Distributed Control with Networked Embedded Systems Objectives l l l Implementation of distributed, cooperative control using a networked embedded system. Of particular interest are the observation and control of distributed parameter systems: vibrations, acoustics, environmental etc. Critical issues : – Maximum sampling frequency is limited by network communication – Efficient distributed control design – Scalable control laws – Performance limited by partial system information

Vibro-Acoustics Laboratory Vanderbilt University Distributed Control with Networked Embedded Systems Computational Platform • Prometheus PC/104 from Diamond Systems Corporation • Linux or QNX OS Experimental Platforms • Smart Structure Experiments of increasing complexity − Simply supported beam for basic algorithm development − Simply supported plate for more complex dynamics − Launch vehicle fairing for unknown dynamics and distributed system identification

Vibro-Acoustics Laboratory Vanderbilt University Distributed Control with Networked Embedded Systems Distributed Adaptive Algorithm Development • Distributed adaptive system identification • Distributed adaptive controller − Scalable control system design − Account for unknown dynamics and time-varying environment Results • Minimum distributed controller processing time of around 1 ms permits maximum sampling rate of 600 Hz • Scalable control laws that approach global control performance even with limited sensor information