Title :
On passivity-based control of flexible multibody nonlinear systems
Author :
Kelkar, A.G. ; Joshi, S.M.
Author_Institution :
Dept. of Mech. Eng., Kansas State Univ., Manhattan, KS, USA
Abstract :
Presents an overview of certain passivity-based control laws for a class of nonlinear multibody flexible space structures. The control laws presented achieve globally asymptotically stable large-angle closed-loop manoeuvres. The control laws use inherent passivity of such systems and are robust to unmodeled dynamics, parametric uncertainties, and, in some cases, certain actuator/sensor nonlinearities. Some results on trajectory tracking of rigid and flexible multibody space systems are also given
Keywords :
aerospace control; asymptotic stability; closed loop systems; control nonlinearities; flexible structures; nonlinear control systems; position control; robust control; uncertain systems; actuator/sensor nonlinearities; globally asymptotically stable large-angle closed-loop manoeuvres; nonlinear multibody flexible space structures; passivity-based control; rigid multibody space systems; trajectory tracking; Actuators; Control systems; Damping; Equations; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Space vehicles; Symmetric matrices; Torque control;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.649802
