CONTROL OF SLEW MANEUVER OF A FLEXIBLE BEAM MOUNTED NON-RADIALLY ON A RIGID HUB: A GEOMETRICALLY EXACT MODELLING APPROACH
✍ Scribed by K. Yuan
- Publisher
- Elsevier Science
- Year
- 1997
- Tongue
- English
- Weight
- 233 KB
- Volume
- 204
- Category
- Article
- ISSN
- 0022-460X
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✦ Synopsis
The positioning control using a joint torque is studied for a hub-beam system with a tip payload. In order to make the axial vibration of the beam accessible to the joint torque, the flexible beam mounted non-radially on the rigid hub is considered. Neither model truncation nor small deflection assumption is employed throughout the process of dynamic modelling and controller design. A joint PD controller with additional feedback of joint acceleration and root strain of the beam is derived using a Lyapunov-type method. Global asymptotic stability of the desired equilibrium position is proved rigorously. The geometrically exact formulation presented in this work can be viewed as a generalization of the related work based on the small deflection assumption investigated in the existing literature.