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
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;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532363
