Decoupled Tracking Control for a Flexible Multi-body Satellite with Solar Panels and Manipulator

被引：0

作者：

Shi, Chaoyi ^{[1
]}

Wang, Yong ^{[1
]}

机构：

[1] Peking Univ, Coll Engn, Beijing 100871, Peoples R China

来源：

PROCEEDINGS OF 2016 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL II | 2016年 / 405卷

关键词：

Flexible multi-body systems; Feedback linearization; Stability; SPACECRAFT;

D O I：

10.1007/978-981-10-2335-4_48

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper studies the tracking control of a robotic manipulator mounted on a rigid satellite with flexible solar panels. By designing a decoupled feedback controller, the manipulator can track planned paths in the presence of the disturbances from the flexural modes of the panels, and meanwhile, the attitude dynamics of the satellite are stabilized. Stability analysis is proposed based on the Floquet theory for periodic linear systems. Finally, numerical simulations are carried out to validate the controller for the nonlinear model.

引用

页码：529 / 540

页数：12

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