Sliding Control Approach to Underactuated Multibody Systems.

A robust control algorithm is proposed for stabilization and tracking control of underactuated multibody mechanical systems governed by nonlinear equations of motion. Sliding, or variable structure, control is a simple hut robust nonlinear control approach that is capable of handling both disturbanc...

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Main Authors: Ashrafiuon, Hashem., Erwin, R. Scott.
Format: Villanova Faculty Authorship
Language:English
Published: 2004
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spelling Sliding Control Approach to Underactuated Multibody Systems.
Ashrafiuon, Hashem.
Erwin, R. Scott.
A robust control algorithm is proposed for stabilization and tracking control of underactuated multibody mechanical systems governed by nonlinear equations of motion. Sliding, or variable structure, control is a simple hut robust nonlinear control approach that is capable of handling both disturbances and parameter uncertainties. We formulate the sliding control approach for general underactuated multibody systems, and define first order sliding surfaces, one per actuated degrees of freedom, as a linear combination of the tracking position and velocity errors of both actuated and unactuated coordinates. The controllers are then determined based on a Lyapunov function construction. The Lyapunov stability analysis, along with the bounds defined for parameter uncertainties and disturbances, guarantee that all system trajectories reach and remain on the sliding surfaces. The sliding surfaces are proved to be asymptotically or marginally stable, depending on the presence or absence of potential energy terms in the equations of motion. A 3- dimentional multibody model of a complex satellite system is presented and its equations of motion are derived. The proposed sliding control approach is developed for the satellite system and applied to maneuver the satellite using its appendages when it has lost all three rotational degrees of freedom.
2004
Villanova Faculty Authorship
vudl:173918
2004 American Control Conference, June 30-July 2 2004, 1283-1288.
en
dc.title_txt_mv Sliding Control Approach to Underactuated Multibody Systems.
dc.creator_txt_mv Ashrafiuon, Hashem.
Erwin, R. Scott.
dc.description_txt_mv A robust control algorithm is proposed for stabilization and tracking control of underactuated multibody mechanical systems governed by nonlinear equations of motion. Sliding, or variable structure, control is a simple hut robust nonlinear control approach that is capable of handling both disturbances and parameter uncertainties. We formulate the sliding control approach for general underactuated multibody systems, and define first order sliding surfaces, one per actuated degrees of freedom, as a linear combination of the tracking position and velocity errors of both actuated and unactuated coordinates. The controllers are then determined based on a Lyapunov function construction. The Lyapunov stability analysis, along with the bounds defined for parameter uncertainties and disturbances, guarantee that all system trajectories reach and remain on the sliding surfaces. The sliding surfaces are proved to be asymptotically or marginally stable, depending on the presence or absence of potential energy terms in the equations of motion. A 3- dimentional multibody model of a complex satellite system is presented and its equations of motion are derived. The proposed sliding control approach is developed for the satellite system and applied to maneuver the satellite using its appendages when it has lost all three rotational degrees of freedom.
dc.date_txt_mv 2004
dc.format_txt_mv Villanova Faculty Authorship
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dc.source_txt_mv 2004 American Control Conference, June 30-July 2 2004, 1283-1288.
dc.language_txt_mv en
author Ashrafiuon, Hashem.
Erwin, R. Scott.
spellingShingle Ashrafiuon, Hashem.
Erwin, R. Scott.
Sliding Control Approach to Underactuated Multibody Systems.
author_facet Ashrafiuon, Hashem.
Erwin, R. Scott.
dc_source_str_mv 2004 American Control Conference, June 30-July 2 2004, 1283-1288.
format Villanova Faculty Authorship
author_sort Ashrafiuon, Hashem.
dc_date_str 2004
dc_title_str Sliding Control Approach to Underactuated Multibody Systems.
description A robust control algorithm is proposed for stabilization and tracking control of underactuated multibody mechanical systems governed by nonlinear equations of motion. Sliding, or variable structure, control is a simple hut robust nonlinear control approach that is capable of handling both disturbances and parameter uncertainties. We formulate the sliding control approach for general underactuated multibody systems, and define first order sliding surfaces, one per actuated degrees of freedom, as a linear combination of the tracking position and velocity errors of both actuated and unactuated coordinates. The controllers are then determined based on a Lyapunov function construction. The Lyapunov stability analysis, along with the bounds defined for parameter uncertainties and disturbances, guarantee that all system trajectories reach and remain on the sliding surfaces. The sliding surfaces are proved to be asymptotically or marginally stable, depending on the presence or absence of potential energy terms in the equations of motion. A 3- dimentional multibody model of a complex satellite system is presented and its equations of motion are derived. The proposed sliding control approach is developed for the satellite system and applied to maneuver the satellite using its appendages when it has lost all three rotational degrees of freedom.
title Sliding Control Approach to Underactuated Multibody Systems.
title_full Sliding Control Approach to Underactuated Multibody Systems.
title_fullStr Sliding Control Approach to Underactuated Multibody Systems.
title_full_unstemmed Sliding Control Approach to Underactuated Multibody Systems.
title_short Sliding Control Approach to Underactuated Multibody Systems.
title_sort sliding control approach to underactuated multibody systems.
publishDate 2004
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language English
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