Atul G Kelkar

(Author)

Control of Nonlinear Multibody Flexible Space StructuresPaperback, 21 August 1996

Control of Nonlinear Multibody Flexible Space Structures
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Part of Series
Lecture Notes in Control and Information Sciences
Part of Series
Advances in Industrial Control
Print Length
144 pages
Language
English
Publisher
Springer
Date Published
21 Aug 1996
ISBN-10
3540760938
ISBN-13
9783540760931

Description

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.

Product Details

Authors:
Atul G KelkarSuresh M Joshi
Book Format:
Paperback
Country of Origin:
US
Date Published:
21 August 1996
Dimensions:
23.39 x 15.6 x 0.86 cm
ISBN-10:
3540760938
ISBN-13:
9783540760931
Language:
English
Location:
Berlin, Heidelberg
Pages:
144
Publisher:
Weight:
231.33 gm

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