Title :
A control design approach for slew maneuver of elastic multibody systems
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Abstract :
The author presents an approach to control design for slew maneuver of a class of elastic multibody systems. The approach is based on dynamic decoupling through input-output feedback linearization and subsequent independent trajectory control of each individual body. Stability and performance (in both tracking and vibration suppression) of the control system are maintained at all system configurations and with maneuvers of different speeds
Keywords :
control system synthesis; distributed parameter systems; feedback; large-scale systems; linearisation techniques; control design; dynamic decoupling; elastic multibody systems; input-output feedback linearization; performance; slew maneuver; stability; tracking; vibration suppression; Control design; Control systems; Feedback; Manipulator dynamics; Nonlinear dynamical systems; Orbital robotics; Payloads; Space vehicles; Stability; Vibration control;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220282
