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: Strategic Nonviolent Power proposes that the route to what Gandhi described as the "undreamt of and seemingly impossible discoveries" of nonviolent resistance is the application of rigorous science. Although not a simple science, Mattaini's application of ecological science grounded in the science of behavior brings exceptional power to the struggle for justice and liberation...read more

Reviews over two dozen coercion-based practices, including human sacrifice, genocide, war, terrorism, revolution, political murder, riots, homicide, imprisonment, capital punishment, torture, religious persecution, slavery, debt bondage, and taxation. Examples and data are drawn from all over the world, including ancient Rome, medieval Japan, early modern England, revolutionary Russia, and four centuries of American history. Payne concludes that the long-run tendency in societies is for the use of force to decline.

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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

Using accounts from around the world and throughout history, this book describes womens struggle for social change through nonviolent action