DocumentCode
300779
Title
Feedback reorientation of planar multibody systems in space using joint actuation
Author
Kolmanovsky, Ilya ; McClamroch, N. Harris
Author_Institution
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
Volume
4
fYear
1995
fDate
21-23 Jun 1995
Firstpage
2810
Abstract
Feedback controllers are constructed for reorienting a planar interconnection of rigid bodies in space using joint actuators only. Controllers of two different types are developed. The first controller is based on a discontinuous switched mode feedback strategy. It provides finite time (dead-beat) responses. The second controller is a smooth time-periodic controller. It guarantees asymptotic stability of the closed loop. Comparison is made of the two design approaches
Keywords
aerospace control; asymptotic stability; closed loop systems; feedback; periodic control; sampled data systems; asymptotic stability; closed loop; deadbeat responses; discontinuous switched mode feedback strategy; feedback reorientation; finite time responses; joint actuation; planar interconnection; planar multibody systems; rigid bodies; smooth time-periodic controller; Actuators; Adaptive control; Asymptotic stability; Ear; Equations; Feedback; Force control; Shape control; Strategic planning; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.532363
Filename
532363
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