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.