کنترل غیر خطی Multibody انعطاف پذیر سازه های (جزوه کنترل و اطلاع رسانی) Control of Nonlinear Multibody Flexible Space Structures (Lecture Notes in Control and Information Sciences)
- نوع فایل : کتاب
- زبان : انگلیسی
- نویسنده : Atul G. Kelkar ,Suresh M. Joshi
- ناشر : Springer
- چاپ و سال / کشور: 1996
- شابک / ISBN : 3540760938
Description
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.
