Stabilization of free-flying underactuated mechanisms in space
By: Ranjan Mukherjee
Contributors: Naval Postgraduate School (U.S.). Dept. of Mechanical Engineering
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1991
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 15
Subjects: Control theory
Other titles: NPS-ME-91-03.
Description: Underactuated mechanisms provide low cost automation and can overcome actuator      failures. These mechanisms are more suitable for space applications mainly because of their      lower weight and lower power consumption. Typical examples of useful underactuated      mechanisms in space would be large space structures and robot manipulators. Such      mechanisms are however difficult to control because of the fewer number of actuators in the      system. In this paper we formulate the dynamics of an underactuated mechanism using      Hamilton's canonical equations. Next, we develop a theorem that provides us with some      necessary and some sufficient conditions for the asymptotic stability of autonomous systems.      This theorem is more powerful than LaSalle's theorem when higher order derivatives of the      Liapunov function can be easily computed. Finally, we use a Liapunov function approach to      develop a control strategy that will stabilize an underactuated mechanism in space to an      equilibrium manifold. The effectiveness of such control is verified using our asymptotic      stability theorem.
Notes: Cover title.

"NPS-ME-91-03."

"September 1991."

AD A242 557.

Includes bibliographical references (p. 12-13).

aq/aq cc:9116 03/26/97.