Controllability analysis of a rotating body with flexible beams

被引：1
|
作者：
Zuyev, AL [1 ]
机构：
[1] Natl Acad Sci Ukraine, Inst Appl Math & Mech, UA-83114 Donetsk, Ukraine
来源：
ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2002年
关键词：
D O I：
10.1109/ROMOCO.2002.1177132
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is focused on the controllability property of a rotating rigid body endowed with a number of the Euler-Bernoulli beams. A nonlinear mathematical model of the system considered is obtained within the framework of Lagrangian formalism. It is pointed out that a finite-dimensional approximation of the system is not flat. The linearized dynamics is shown to be controllable, provided that there is no resonance in the system.
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页码：357 / 362
页数：6
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