Dynamics and Precision Control of Uncertain Tumbling Multibody Systems

作者：Koganti Prasanth B^*; Udwadia Firdaus E

来源：Journal of Guidance, Control, and Dynamics, 2017, 40(5): 1176-1190.

DOI：10.2514/1.G002212

This paper deals with the precision control of tumbling multibody systems with uncertainties present in the descriptions of their mathematical models. A generic tumbling multibody system consisting of a rigid body with internal degrees of freedom is used. A two-step control methodology is developed. First, a nominal system is conceived that best approximates the actual physical system. An analytical dynamics-based control methodology is used to obtain the nominal control force that ensures that this nominal system satisfies the control requirements. This is done using the control methodology proposed by Udwadia ("Optimal Tracking Control of Nonlinear Dynamical Systems," Proceedings of the Royal Society of London, Series A: Mathematical and Physical Sciences, Vol. 464, 2008, pp. 2341-2363). Second, an additional compensating generalized control force is designed to ensure that the actual controlled (uncertain) system tracks the trajectories of the nominal system so that the control requirements are also met by the actual system. This paper deals primarily with the second step and its combination with the first. Uncertainties in both the description of the system as well as the forces acting on it are considered. No linearizations or approximations are made in either of the steps, and the full nonlinear dynamical system is considered. The efficacy of the control methodology is demonstrated by applying it to two tumbling uncertain multibody dynamical systems.

• 出版日期2017-5