DocumentCode
335173
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
Volume
1
fYear
1994
fDate
29 June-1 July 1994
Firstpage
143
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.751711
Filename
751711
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