Gain-scheduled control for an antenna with multiple collocated sensors and actuators

An output-based gain-scheduled controller is proposed for attitude maneuvers and vibration suppression in repurposing a large antenna. All sensor outputs are used as the gain-scheduled signals to maintain passivity of the antenna with multiple collocated actu- ators. Applying these special gain-scheduled signals permits the use of a strictly passive controller which degenerates to a scalar transfer function. As a result, the computational cost decreases dramatically. System stability can be guaranteed by using the passivity theorem along with the Kalman-Yakubovich-Popov (KYP) Lemma. Numerical simulation results are given to make a comparison between the proposed gain-scheduled control and a non-scheduled control scheme. In addition, an optimal form of the scheduling signals is found to minimize vertical displacements on the rim of the antenna, attitude errors, and control effort so as to give good performance.