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On passivity-based control of flexible multibody nonlinear systems

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2 Author(s)
Kelkar, A.G. ; Dept. of Mech. Eng., Kansas State Univ., Manhattan, KS, USA ; Joshi, S.M.

Presents an overview of certain passivity-based control laws for a class of nonlinear multibody flexible space structures. The control laws presented achieve globally asymptotically stable large-angle closed-loop manoeuvres. The control laws use inherent passivity of such systems and are robust to unmodeled dynamics, parametric uncertainties, and, in some cases, certain actuator/sensor nonlinearities. Some results on trajectory tracking of rigid and flexible multibody space systems are also given

Published in:

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on  (Volume:5 )

Date of Conference:

10-12 Dec 1997