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

fYear

2008

fDate

25-27 June 2008

Firstpage

1359

Lastpage

1362

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/WCICA.2008.4593120

Filename

4593120