NONLINEAR CONTROL OF FLEXIBLE, ARTICULATED SPACECRAFT - APPLICATION TO SPACE-STATION MOBILE-MANIPULATOR

This paper extends the authors' prior work on the attitude control of flexible space structures via partial feedback linearization methods to articulated systems. Recursive relations introduced by Jain and Rodriguez are central to the efficient formulation of models via Poincare's form of Lagrange's equations. Such models provide for easy construction of feedback linearizing control laws. Adaptation is shown to be an effective way of reducing sensitivity to uncertain parameters. An application to a flexible platform with mobile remote manipulator system is highlighted.