Control of Nonlinear Multibody Flexible Space Structures

✍ Scribed by Dr Atul G. Kelkar, Dr Suresh M. Joshi (auth.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 1996
• Tongue: English
• Leaves: 149
• Series: Lecture Notes in Control and Information Sciences 221
• Edition: 1
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

Introduction....Pages 1-17
Mathematical model....Pages 19-44
Dissipativity and passivity....Pages 45-71
Passivity-based controllers....Pages 73-116
Passivity-based controllers....Pages 117-128

✦ Subjects

Control Engineering