Control of Nonlinear Multibody Flexible Space Structures (Lecture Notes in Control and Information Sciences): 221 - Brossura

Kelkar, Atul G.

Brossura

ISBN 10: 3540760938 ISBN 13: 9783540760931

Casa editrice: Springer, 1996

Riassunto

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.

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Contenuti

Mathematical model.- Dissipativity and passivity.- Passivity-based controllers.- Passivity-based controllers.

Dettagli dell?edizione

• Editore: Springer
• Data di pubblicazione: 1996
• Lingua: Inglese
• ISBN 10: 3540760938
• ISBN 13: 9783540760931
• Rilegatura: Copertina flessibile
• Numero edizione: 1
• Numero di pagine: 160
• Contatto del produttore: non disponibile
• Persona responsabile: CMN Printpool Inh. Mathis Neumann; https://www.also.com/ec/cms5/en_6000/6000/index.jsp; ; Friedrich-Karl-Str. 9; Hamburg; Germania