Robust controller-observer design for a class of multibody elastic systems

A robust controller-observer design procedure for precision pointing and tracking of a class of fast moving elastic structures is proposed. Based on a combination of the sliding manifold approach with the theory of optimal interpolation, this design procedure generates a control effort capable of insuring high pointing and tracking performance in the presence of induced disturbances and modelling uncertainties. The uncertainties are handled by sliding control and estimation of the nonlinearly excited elastic dynamics by an interpolator of the structure dynamic response. Chattering behavior of the controller is avoided at the expense of tolerating a tracking error