{"product_id":"9783540760931","title":"Lecture Notes in Control and Information Sciences","description":"\u003ch1\u003eLecture Notes in Control and Information Sciences\u003c\/h1\u003e \u003ch2\u003eKelkar, Atul G.; Joshi, Suresh M.\u003c\/h2\u003e \u003cp\u003eAddressing the difficult problem of controlling flexible spacecraft having multiple articulated appendages is the aim of this volume. Such systems are needed for space mission concepts including multi-payload space platforms and autonomous space-based manipulators. These systems are characterised by highly nonlinear dynamics, flexibility in members and joints, low inherent damping, and modeling uncertainty. A complete nonlinear rotational dynamic model of a generic multibody flexible system is derived, and is shown to possess certain passivity properties. The main result is a class of passivity-based nonlinear and linear output feedback control laws that enable globally stable closed-loop manoeuvres. The control laws are robust to parametric uncertainties, unmodeled uncertainties, and in some cases, actuator and sensor nonlinearities. All results given are also applicable to flexible terrestrial manipulators.\u003c\/p\u003e \u003ch3\u003eDetails\u003c\/h3\u003e \u003cp\u003ePublished by: Springer\u003c\/p\u003e \u003cp\u003ePublication Date: 1996-08-21\u003c\/p\u003e \u003cp\u003eFormat: Paperback\u003c\/p\u003e \u003cp\u003eISBN-13: 9783540760931\u003c\/p\u003e \u003cp\u003eDOI: 10.1007\/BFb0030990\u003c\/p\u003e \u003cp\u003eDimensions: 235cm x155cm\u003c\/p\u003e \u003cp\u003ePages: 144\u003c\/p\u003e ","brand":"Springer Berlin Heidelberg","offers":[{"title":"Default Title","offer_id":45578280042636,"sku":"9783540760931","price":49.49,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0710\/9545\/1788\/files\/9783540760931_fdcb5672-6514-4b1a-af7e-64d15e9a6d0a.jpg?v=1775678091","url":"https:\/\/lateknightbooks.com\/products\/9783540760931","provider":"Late Knight Books and Services, LLC","version":"1.0","type":"link"}