| 書(shū)目名稱(chēng) | Control of Nonlinear Multibody Flexible Space Structures |
| 編輯 | Atul G. Kelkar,Suresh M. Joshi |
| 視頻video | http://file.papertrans.cn/238/237402/237402.mp4 |
| 叢書(shū)名稱(chēng) | Lecture Notes in Control and Information Sciences |
| 圖書(shū)封面 |  |
| 描述 | 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. |
| 出版日期 | Book 1996 |
| 關(guān)鍵詞 | actuator; control; feedback; sensor; uncertainty |
| 版次 | 1 |
| doi | https://doi.org/10.1007/BFb0030990 |
| isbn_softcover | 978-3-540-76093-1 |
| isbn_ebook | 978-3-540-40944-1Series ISSN 0170-8643 Series E-ISSN 1610-7411 |
| issn_series | 0170-8643 |
| copyright | Springer-Verlag London 1996 |
|Archiver|手機(jī)版|小黑屋|
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