Title :
Exact tracking for a planar multilink in space using internal actuation
Author :
Kolmanovsky, Ilya V. ; McClamroch, N. Harris ; Coppola, Vincent T.
Author_Institution :
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
fDate :
29 June-1 July 1994
Abstract :
The rotational dynamics and control of a planar system of interconnected rigid bodies, referred to as a multilink, are studied assuming that the annular momentum of the multilink is conserved. It is demonstrated that internal actuators can be used to change the orientation of a multilink in a desired time-varying fashion. The theory developed in the paper is applied to a spacecraft tracking problem, where the spacecraft is modeled as a multilink.
Keywords :
aerospace control; angular momentum; dynamics; position control; time-varying systems; tracking; annular momentum; interconnected rigid bodies; internal actuation; planar multilink; rotational dynamics; spacecraft tracking; time-varying system; Actuators; Aerodynamics; Control systems; Earth; Gravity; Kinematics; Mechanical systems; Shape; Target tracking; Time varying systems;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751711
