Control of Nonlinear Multibody Flexible Space Structures

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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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.

• actuator
• control
• feedback
• sensor
• uncertainty

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