Springer
Control of Nonlinear Multibody Flexible Space Structures
Product Code:
9783540760931
ISBN13:
9783540760931
Condition:
New
$61.47
Control of Nonlinear Multibody Flexible Space Structures
$61.47
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.
| Author: Atul G. Kelkar |
| Publisher: Springer |
| Publication Date: Aug 21, 1996 |
| Number of Pages: 144 pages |
| Binding: Paperback or Softback |
| ISBN-10: 3540760938 |
| ISBN-13: 9783540760931 |
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