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Control of Nonlinear Multibody Flexible Space Structures

  • Book
  • © 1996

Overview

Authors:
  1. Atul G. Kelkar
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  2. Suresh M. Joshi
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Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 221)

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Table of contents (5 chapters)

  1. Front Matter

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  2. Introduction

    Pages 1-17

  3. Mathematical model

    Pages 19-44

  4. Dissipativity and passivity

    Pages 45-71

  5. Passivity-based controllers

    Pages 73-116

  6. Passivity-based controllers

    Pages 117-128

  7. Back Matter

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Keywords

About this book

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.

Bibliographic Information

  • Book Title: Control of Nonlinear Multibody Flexible Space Structures

  • Authors: Atul G. Kelkar, Suresh M. Joshi

  • Series Title: Lecture Notes in Control and Information Sciences

  • DOI: https://doi.org/10.1007/BFb0030990

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer-Verlag London 1996

  • Softcover ISBN: 978-3-540-76093-1Published: 21 August 1996

  • eBook ISBN: 978-3-540-40944-1Published: 11 December 2005

  • Series ISSN: 0170-8643

  • Series E-ISSN: 1610-7411

  • Edition Number: 1

  • Number of Pages: XIV, 144

  • Topics: Control, Robotics, Mechatronics

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