Tumbling is an inherently nonlinear phenomenon, and this paper uses a generic model of a tumbling multibody system made up of a rigid body to which discrete masses are attached; it obtains the equations of motion of the system explicitly, exhibiting the highly nonlinear nature of the dynamics. Particularizations of the generic model used here are useful in applications such as liquid sloshing in rockets, biodynamics, and capture and refurbishing of space debris. It is assumed that the mathematical description of the system is accurately known. A uniform analytical dynamics-based approach is used to obtain both the equations of motion of the system as well as the requisite control torques and forces to satisfy control requirements. No linearizations or approximations of the nonlinear dynamics are made, and closed-form controls are obtained that precisely track user-specified time-dependent control requirements on the tumbling multibody system. The methodology is demonstrated using two examples of tumbling systems with internal degrees of freedom in a constant gravity field that possess significant nonlinear internal motions. Precision tumbling control of such tumbling-vibrating multibody systems is achieved with considerable ease, making the approach presented herein useful for real-time control.


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    Title :

    Dynamics and Precision Control of Tumbling Multibody Systems


    Contributors:

    Published in:

    Publication date :

    2017-01-13


    Size :

    19 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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