Dynamics and Precision Control of Uncertain Tumbling Multibody Systems
| Autor: | Firdaus E. Udwadia, Prasanth B. Koganti |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering Variable structure control Mathematical model business.industry Applied Mathematics Physical system Aerospace Engineering Control engineering 02 engineering and technology Kalman filter Degrees of freedom (mechanics) Multibody system 01 natural sciences Analytical dynamics Attitude control 020901 industrial engineering & automation Space and Planetary Science Control and Systems Engineering Control theory 0103 physical sciences Electrical and Electronic Engineering business 010301 acoustics |
| Zdroj: | Journal of Guidance, Control, and Dynamics. 40:1176-1190 |
| ISSN: | 1533-3884 0731-5090 |
| DOI: | 10.2514/1.g002212 |
| Popis: | This paper deals with the precision control of tumbling multibody systems with uncertainties present in the descriptions of their mathematical models. A generic tumbling multibody system consisting of a rigid body with internal degrees of freedom is used. A two-step control methodology is developed. First, a nominal system is conceived that best approximates the actual physical system. An analytical dynamics-based control methodology is used to obtain the nominal control force that ensures that this nominal system satisfies the control requirements. This is done using the control methodology proposed by Udwadia (“Optimal Tracking Control of Nonlinear Dynamical Systems,” Proceedings of the Royal Society of London, Series A: Mathematical and Physical Sciences, Vol. 464, 2008, pp. 2341–2363). Second, an additional compensating generalized control force is designed to ensure that the actual controlled (uncertain) system tracks the trajectories of the nominal system so that the control requirements are also me... |
| Databáze: | OpenAIRE |
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