Globally stabilizing controllers for flexible multibody systems

Author

Kelkar, Atul G. ; Joshi, Suresh M. ; Alberts, Thomas E.

Author_Institution

NASA Langley Res. Center, Hampton, VA, USA

fYear

1992

fDate

1992

Firstpage

2856

Abstract

Global asymptotic stability of nonlinear multibody flexible space structures under static dissipative compensation is established. The stability is shown to be robust to certain actuator and sensor nonlinearities, modeling error, and parametric uncertainty. The results are applicable to a wide class of systems, including large flexible space structures with articulated flexible appendages, which are classified as Class II/IV structures by NASA´s Controls-Structures Interaction program. The stability proof uses the Lyapunov approach and exploits the inherent passivity of such systems

Keywords

Lyapunov methods; N-body problems; aerospace control; classical mechanics of discrete systems; compensation; control nonlinearities; stability; structural engineering; Class II/IV structures; Controls-Structures Interaction program; Lyapunov approach; NASA; actuator nonlinearities; articulated flexible appendages; flexible multibody systems; global asymptotic stability; globally stabilizing controllers; modeling error; nonlinear multibody flexible space structures; parametric uncertainty; passivity; robustness; sensor nonlinearities; static dissipative compensation; Actuators; Asymptotic stability; Control systems; Damping; Flexible structures; Mathematical model; PD control; Robust stability; Space missions; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

Conference_Location

Tucson, AZ

Print_ISBN

0-7803-0872-7

Type

conf

DOI

10.1109/CDC.1992.371292

Filename

371292