Slewing control of flexible space structures: A wave-based approach

The generic flexible space structure is a flexible beam controlled by a single actuator at one end. The actuator is attempting to control the rotation and/or lateral translation of the entire flexible system from rest to rest, requiring a combination of position control and active bending vibration damping. A new control strategy is presented for this problem. It is based on viewing the actuators motion as simultaneously launching and absorbing mechanical waves into and out of the system. It requires little sensing, little knowledge of the flexible system dynamics, and makes small demands on the actuator dynamics. It is generic and easily handles an arbitrary number of system components of arbitrary inertias and stiffnesses. It leads to a controller that can get the entire system to stop dead exactly at target, with little vibration in transit.