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Control of Nonlinear Multibody Flexible Space Structures: Lecture Notes in Control and Information Sciences, cartea 221

Autor Atul G. Kelkar, Suresh M. Joshi
en Limba Engleză Paperback – 21 aug 1996
Addressing the difficult problem of controlling flexible spacecraft having multiple articulated appendages is the aim of this volume. Such systems are needed for space mission concepts including multi-payload space platforms and autonomous space-based manipulators. These systems are characterised by highly nonlinear dynamics, flexibility in members and joints, low inherent damping, and modeling uncertainty. A complete nonlinear rotational dynamic model of a generic multibody flexible system is derived, and is shown to possess certain passivity properties. The main result is a class of passivity-based nonlinear and linear output feedback control laws that enable globally stable closed-loop manoeuvres. The control laws are robust to parametric uncertainties, unmodeled uncertainties, and in some cases, actuator and sensor nonlinearities. All results given are also applicable to flexible terrestrial manipulators.
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Specificații

ISBN-13: 9783540760931
ISBN-10: 3540760938
Pagini: 160
Ilustrații: XIV, 144 p.
Dimensiuni: 155 x 235 x 8 mm
Greutate: 0.23 kg
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seria Lecture Notes in Control and Information Sciences

Locul publicării:Berlin, Heidelberg, Germany

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Research

Cuprins

Mathematical model.- Dissipativity and passivity.- Passivity-based controllers.- Passivity-based controllers.