Multibody Dynamics and Nonlinear Control of Flexible Space Structures

A multibody dynamics formulation for studying the response of large space structures with interconnected flexible bodies is presented. The use of system modes to model the structural flexibility results in a compact form of the nonlinear equations of motion. Next, the nonlinear control based feedback linearization technique is applied to effectively control the attitude motion of a flexible space platform. Using the original nonlinear dynamics of the multibody system, the controller determines the effort to effectively linearize the system and introduces a linear compensator to achieve the desired output in the presence of structural flexibility of the spacecraft.

[1]  Vinod J. Modi,et al.  General dynamics of a large class of flexible satellite systems , 1979 .

[2]  Bong Wie,et al.  A new momentum management controller for the Space Station , 1988 .

[3]  Hiroki Matsuo,et al.  Multibody Effect on Nutational Dynamics of Spin-Stabilized Satellites with Fuel Sloshing , 1998 .

[4]  R. Quinn,et al.  Equations of motion for maneuvering flexible spacecraft , 1987 .

[5]  E. Kreund,et al.  The structure of decoupled non-linear systems , 1975 .

[6]  J. Keat.  Multibody system order n dynamics formulation based on velocity transform method , 1990 .

[7]  V. Spector,et al.  Adaptive torque equilibrium control of the Space Station , 1985 .

[8]  V. J. Modi,et al.  Nonlinear Modeling and Dynamic Feedback Control of the Flexible Remote Manipulator System , 1991, 1991 American Control Conference.

[9]  Renjith R. Kumar,et al.  Predicted torque equilibrium attitude utilization for Space Station attitude control , 1990 .

[10]  J. M. Housner.  Structural dynamics model and response of the deployable reference configuration space station , 1985 .

[11]  J.Y.L. Ho,et al.  Direct Path Method for Flexible Multibody Spacecraft Dynamics (Originally schedulled for publication in the AIAA Journal) , 1977 .

[12]  Vinod J. Modi,et al.  Dynamics of interconnected flexible members in the presence of environmental forces: A formulation with applications☆ , 1989 .

[13]  C. S. Bodley,et al.  A digital computer program for the dynamic interaction simulation of controls and structure (DISCOS), volume 2 , 1978 .

[14]  Sahjendra Singh,et al.  Invertibility and robust nonlinear control of robotic systems , 1984, The 23rd IEEE Conference on Decision and Control.

[15]  Thomas R. Kane,et al.  Formulation of Equations of Motion for Complex Spacecraft , 1980 .

[16]  J. C. Simo,et al.  Dynamics of earth-orbiting flexible satellites with multibody components , 1987 .

[17]  S. Atluri,et al.  Analysis of flexible multibody systems with spatial beams using mixed variational principles , 1998 .

[18]  A. Kurdila,et al.  Multibody dynamics formulations using Maggi's approach , 1990 .

[19]  William W. Hooker,et al.  The Dynamical Attitude Equations for n-Body Satellite , 1965 .

[20]  J. W. Sunkel,et al.  Multistage design of an optimal momentum management controller for the Space Station , 1991 .

[21]  A. Cardona,et al.  Continuation methods for tracing the equilibrium path in flexible mechanism analysis , 1998 .

[22]  R. Roberson,et al.  A dynamical formalism for an arbitrary number of interconnected rigid bodies, with reference to the problem of satellite attitude control. , 1966 .

[23]  W. Jerkovsky.  The Structure of Multibody Dynamics Equations , 1978 .

[24]  Bong Wie,et al.  Periodic-disturbance accommodating control of the space station for asymptotic momentum management , 1989 .

[25]  A. M. Ibrahim,et al.  A General Formulation for Librational Dynamics of Spacecraft with Deploying Appendages , 1984 .

[26]  R. Singh,et al.  Dynamics of flexible bodies in tree topology - A computer oriented approach , 1984 .

[27]  Mark W. Spong,et al.  Robust linear compensator design for nonlinear robotic control , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.