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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Control of Nonlinear Multibody Flexible Space Structures

Control of Nonlinear Multibody Flexible Space Structures

Kelkar, Atul G.
Joshi, Suresh M.

Paperback

Series: Lecture Notes in Control and Information Sciences, Book 221

Technology & Engineering

ISBN10: 3540760938
ISBN13: 9783540760931
Publisher: Springer
Published: Aug 21 1996
Pages: 144
Weight: 0.51
Height: 0.34 Width: 6.14 Depth: 9.21
Language: English
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.

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