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.
Passivity-based control of nonlinear flexible multibody systems
Passivitätsbasierte Regelung nichtlinearer flexibler Mehrkörpersysteme
IEEE Transactions on Automatic Control ; 40 , 5 ; 910-914
1995
5 Seiten, 1 Bild, 18 Quellen
Aufsatz (Zeitschrift)
Englisch
Dissipative Controllers for Nonlinear Multibody Flexible Space Systems
Online Contents | 1995
|Global Stabilization of Flexible Multibody Spacecraft Using Quaternion-Based Nonlinear Control Law
Online Contents | 1996
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