Title :
Global stabilization of multibody spacecraft using quaternion-based nonlinear control law
Author :
Kelkar, A.G. ; Joshi, S.M.
Author_Institution :
NASA Langley Res. Center, Hampton, VA, USA
Abstract :
A quaternion-based nonlinear control law is proposed for a class of nonlinear multibody flexible space systems. Assuming collocated actuators and sensors, the control law is shown to provide global asymptotic stability despite modeling errors and parametric uncertainties. The results represent a generalization of the existing results for single-body rigid spacecraft, and are applicable to systems such as flexible multi-payload space platforms and space manipulators
Keywords :
aerospace control; asymptotic stability; flexible structures; manipulators; nonlinear control systems; space vehicles; actuators; flexible multipayload space platforms; global asymptotic stability; global stabilization; multibody flexible spacecraft; quaternion-based nonlinear control; sensors; space manipulators; Actuators; Asymptotic stability; Control systems; Damping; Mathematical model; Nonlinear control systems; Quaternions; Space vehicles; Symmetric matrices; Uncertainty;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.533810
