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Addressing the difficult problem of controlling flexible spacecraft having multiple articulated appendages is the aim of this volume. Such systems are needed for space mission concepts including multi-payload space platforms and autonomous space-based manipulators. These systems are characterised by highly nonlinear dynamics, flexibility in members and joints, low inherent damping, and modeling uncertainty. A complete nonlinear rotational dynamic model of a generic multibody flexible system is derived, and is shown to possess certain passivity properties. The main result is a class of passivity-based nonlinear and linear output feedback control laws that enable globally stable closed-loop manoeuvres. The control laws are robust to parametric uncertainties, unmodeled uncertainties, and in some cases, actuator and sensor nonlinearities. All results given are also applicable to flexible terrestrial manipulators.
| Autorius: | Suresh M. Joshi, Atul G. Kelkar, |
| Serija: | Lecture Notes in Control and Information Sciences |
| Leidėjas: | Springer Berlin Heidelberg |
| Išleidimo metai: | 1996 |
| Knygos puslapių skaičius: | 160 |
| ISBN-10: | 3540760938 |
| ISBN-13: | 9783540760931 |
| Formatas: | 235 x 155 x 9 mm. Knyga minkštu viršeliu |
| Kalba: | Anglų |
Parašykite atsiliepimą apie „Control of Nonlinear Multibody Flexible Space Structures“
