Control of Nonlinear Multibody Flexible Space Structures

Suresh M. Joshi, Atul G. Kelkar

ISBN 10: 3540760938 / ISBN 13: 9783540760931

Published by Springer Berlin Heidelberg, 1996

About this Item

Zustand: Sehr gut - Gepflegter, sauberer Zustand. Außen: verschmutzt. Innen: Seiten eingerissen, Seiten vergilbt. Aus der Auflösung einer renommierten Bibliothek. Kann Stempel beinhalten. | Seiten: 160 | Sprache: Englisch | Produktart: Bücher. Seller Inventory # 465444/202

Bibliographic Details

Title: Control of Nonlinear Multibody Flexible ...

Publisher: Springer Berlin Heidelberg

Publication Date: 1996

Binding: Soft cover

Condition: Sehr gut

About this title

Synopsis:

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.