Title :
Controller design of a class of space flexible structure based on Controlled Lagrangian
Author :
Wan, Haiyi ; Huo, Wei
Author_Institution :
Seventh Res. Div., Beihang Univ., Beijing
Abstract :
A class of space flexible structure composed of a rigid central body and a flexible arm is investigated in this paper. The flexible structure can be modelled as an underactuated mechanical system. A new controller for the flexible structure is designed based on Controlled Lagrangian method and asymptotic stability of the closed-loop system is proved. The controller can realize rotational maneuver of the flexible arm and suppress its elastic vibration effectively. A simulation result demonstrates the effectiveness of the presented controller.
Keywords :
aerospace robotics; asymptotic stability; closed loop systems; control system synthesis; elasticity; flexible manipulators; vibration control; asymptotic stability; closed-loop system; controlled Lagrangian; controller design; elastic vibration; flexible arm; rotational maneuver; space flexible structure; underactuated mechanical system; Asymptotic stability; Centralized control; Control system synthesis; Design automation; Flexible structures; Intelligent control; Lagrangian functions; Mechanical systems; Stability analysis; Vibration control; Controlled Lagrangian; space flexible structure; stability analysis; underactuated system; vibration control;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593120
