Stabilizing feedback laws for internally actuated multibody systems in space

Nonlinear Analysis, Theory, Methods and Applications

Volumn 26, Issue 9, 1996, Pages 1461-1479

  Kolmanovsky, Ilya ^a   McClamroch, N Harris ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Nonholonomic systems; Spacecraft applications; Stabilization of nonlinear systems

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; FEEDBACK CONTROL; MATHEMATICAL MODELS; MATRIX ALGEBRA; SPACE APPLICATIONS; SPACECRAFT; STABILIZATION; TORQUE; VECTORS;

ANGULAR MOMENTUM CONSERVATION EQUATION; EXTENDED POWER FORM; FEEDBACK LAWS; MULTIBODY SYSTEMS; NONHOLONOMIC SYSTEMS;

NONLINEAR SYSTEMS;

EID: 0030151861     PISSN: 0362546X     EISSN: None     Source Type: Journal    
DOI: 10.1016/0362-546X(95)00036-U     Document Type: Article

References (19)

1. ARCZEWSKI K. & PIETRUCHA J., Mathematical Modelling of Mechanical Complex Systems, Vol. 1, pp. 251-284. Ellis Horwood, New York (1993).
2. KOLMANOVSKY I., REYHANOGLU M. & McCLAMROCH N. H., Discontinuous feedback stabilization of nonholonomic systems in extended power form, Proc. 33rd IEEE Conf. Dec. Control 4, 3469-3474 (1994).
3. REYHANOGLU M. & McCLAMROCH N. H., Planar reorientation maneuvers of space multibody systems using internal controls, J. Guid., Control Dynam. 15(6), 1475-1480 (1992).
4. BROCKETT, R. W., Asymptotic stability and feedback stabilization, in Differential Geometric Control Theory (Edited by R. W. BROCKETT, R. S. MILLMAN and H. J. SUSSMANN), pp. 181-191. Birkhauser, Boston (1983).
5. FERNANDES C., Gurvits L. & LI Z., Near-optimal nonholonomic motion planning for a system of coupled rigid bodies, IEEE Trans. Auto. Control 39(3), 450-464 (1994).
6. FERNANDES C., GURVITS L. & LI Z., Attitude control of space platform/manipulator system using internal motion, in Space Robotics: Dynamics and Control (Edited by Y. XU and T. KANADE), pp. 131-159. Kluwer, Amsterdam (1993).
7. KOLMANOVSKY I. & McCLAMROCH N. H., Efficient reorientation of a deformable body in space: a free-free beam example, Proc. Am. Control Conf. 1, 202-206 (1993).
8. KRISHNAPRASAD P. S., Geometric phases, and optimal reconfiguration for multibody systems, Proc. Am. Control Conf. 3, 2440-2444 (1990).
9. SREENATH N., Nonlinear control of planar multibody systems in shape space, Math. Control Signals Syst. 5, 343-363 (1992).
10. WALSH G. & SASTRY S., On reorienting linked rigid bodies using internal motions, Proc. 30th IEEE Conf. Dec. Control 1190-1195 (1991).
11. POMET J. B., Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift, Syst. Control Lett. 18, 147-158 (1992).
12. KOKOTOVIC P. V., The joy of feedback: nonlinear and adaptive, Control Syst. Mag. 12(3), 7-17 (1992).
13. M'CLOSKEY R. T. & MURRAY R. M., Exponential stabilization of driftless nonlinear control systems via time-varying, homogeneous feedback, Proc. 33rd IEEE Conf. Dec. Control 2, 1317-1322 (1994).
14. M'CLOSKEY R. T. & MURRAY R. M., Extending exponential stabilizers for nonholonomic systems from kinematic controllers to dynamic controllers, Proc. 4th IFAC Symp. Robot Control (1994).
15. MURRAY R. M., Control of nonholonomic systems using chained form, Fields Inst. Commun. 1, 219-245 (1993).
16. ARNOLD V. I., Mathematical Methods of Classical Mechanics, 2nd edn. Springer, Berlin (1978).
17. VIDYASAGAR M., Nonlinear Systems Analysis, pp. 258-264. Prentice-Hall, New York (1993).
18. M'CLOSKEY R. T. & MURRAY R. M., Nonholonomic systems and exponential convergence: Some analysis tools, Proc. 32nd IEEE Conf. Dec. Control 1, 943-948 (1993).
19. KAWSKI M., Homogeneous stabilizing feedback laws, Control Theory. Advan. Tech. 6(4), 497-516 (1990).