Lecture Notes in Control and Information Sciences

Control of Nonlinear Multibody Flexible Space Structures

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

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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.

Table of contents (5 chapters)

Table of contents (5 chapters)

Buy this book

eBook $84.99
price for USA in USD (gross)
  • The eBook version of this title will be available soon
  • ISBN 978-3-540-40944-1
  • Digitally watermarked, DRM-free
  • Included format:
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $109.00
price for USA in USD
  • ISBN 978-3-540-76093-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Control of Nonlinear Multibody Flexible Space Structures
Authors
Series Title
Lecture Notes in Control and Information Sciences
Series Volume
221
Copyright
1996
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag London
eBook ISBN
978-3-540-40944-1
DOI
10.1007/BFb0030990
Softcover ISBN
978-3-540-76093-1
Series ISSN
0170-8643
Edition Number
1
Number of Pages
XIV, 144
Topics