Passivity-based control of nonlinear flexible multibody systems

Author

Kelkar, Atul G. ; Joshi, Suresh M. ; Alberts, Thomas E.

Author_Institution

NASA Langley Res. Center, Hampton, VA, USA

Volume

40

Issue

5

fYear

1995

fDate

5/1/1995 12:00:00 AM

Firstpage

910

Lastpage

914

Abstract

In this paper, global asymptotic stability of a class of nonlinear multibody flexible space structures under certain dissipative compensation is established. Furthermore, for an important subclass of such systems, the stability is shown to be robust to certain types of actuator and sensor nonlinearities. The results are applicable to robust stabilization of a wide class of systems, including flexible space structures and manipulators with articulated flexible appendages. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems

Keywords

Lyapunov methods; aerospace control; asymptotic stability; flexible structures; manipulators; nonlinear systems; robust control; Lyapunov method; dissipative compensation; flexible manipulators; flexible space structures; global asymptotic stability; inherent passivity; nonlinear flexible multibody systems; passivity-based control; robust stabilization; stability; Automatic control; Control systems; Controllability; Mathematics; Nonlinear control systems; Petri nets; Simultaneous localization and mapping; Supervisory control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.384228

Filename

384228