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|a 9783540409441
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|a 10.1007/BFb0030990
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|a Kelkar, Atul G.
|e author.
|4 aut
|4 http://id.loc.gov/vocabulary/relators/aut
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| 245 |
1 |
0 |
|a Control of Nonlinear Multibody Flexible Space Structures
|h [electronic resource] /
|c by Atul G. Kelkar, Suresh M. Joshi.
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| 250 |
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|a 1st ed. 1996.
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| 264 |
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1 |
|a Berlin, Heidelberg :
|b Springer Berlin Heidelberg :
|b Imprint: Springer,
|c 1996.
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| 300 |
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|a XIV, 144 p.
|b online resource.
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| 336 |
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|a text
|b txt
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| 490 |
1 |
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|a Lecture Notes in Control and Information Sciences,
|x 0170-8643 ;
|v 221
|
| 490 |
1 |
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|a Springer eBook Collection
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| 505 |
0 |
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|a Mathematical model -- Dissipativity and passivity -- Passivity-based controllers -- Passivity-based controllers.
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| 520 |
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|a Addressing the difficult problem of controlling flexible spacecraft having multiple articulated appendages is the aim of this volume. Such systems are needed for space mission concepts including multi-payload space platforms and autonomous space-based manipulators. These systems are characterised by highly nonlinear dynamics, flexibility in members and joints, low inherent damping, and modeling uncertainty. A complete nonlinear rotational dynamic model of a generic multibody flexible system is derived, and is shown to possess certain passivity properties. The main result is a class of passivity-based nonlinear and linear output feedback control laws that enable globally stable closed-loop manoeuvres. The control laws are robust to parametric uncertainties, unmodeled uncertainties, and in some cases, actuator and sensor nonlinearities. All results given are also applicable to flexible terrestrial manipulators.
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| 590 |
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|a Loaded electronically.
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| 590 |
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|a Electronic access restricted to members of the Holy Cross Community.
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| 650 |
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0 |
|a Control engineering.
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| 650 |
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|a Robotics.
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| 650 |
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|a Mechatronics.
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| 690 |
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|a Electronic resources (E-books)
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| 700 |
1 |
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|a Joshi, Suresh M.
|e author.
|4 aut
|4 http://id.loc.gov/vocabulary/relators/aut
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| 710 |
2 |
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|a SpringerLink (Online service)
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|a Lecture Notes in Control and Information Sciences,
|x 0170-8643 ;
|v 221
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| 830 |
|
0 |
|a Springer eBook Collection.
|
| 856 |
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|u https://holycross.idm.oclc.org/login?auth=cas&url=https://doi.org/10.1007/BFb0030990
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