Addressing 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.

Product Description: The pace of progress in gossamer technology has been strong since the publication of "Gossamer Spacecraft: Membrane and Inflatable Structures Technology for Space Applications" in 2001. Solar sails are an obvious and public evidence of this trend...read more

Product Description: Written by many experts in the field, this book brings together, in one place, the state of the art of membrane and inflatable structure technology for space applications. With increased pressure to reduce costs associated with design, fabrication and launch of space structures, there has been a resurgence of interest in membrane structures for extraterrestrial use...read more

Product Description: Addressing 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...read more

Product Description: a comprehensive history of Ballooning that covers over 200 years of development