The use of Cayley-Rodrigues attitude parameters as kinematic variables is shown to yield a globally linearized and decoupled model of the equations of motion of a deformable body, wherein the structural deformation state appears only in the coefficients of the inverse transformation. It is then shown how commanded multi-axial attitude maneuvers can be encoded as switching surfaces for a variable structure control implementation of the corresponding computed slew torques, automatically modulated in response only to detected angular rate error signs, for accurate tracking in the presence of separately damped or even uncontrolled (but stable) structural deformations.
Variable structure control of globally feedback-decoupled deformable vehicle maneuvers / Dwayer III, T. A. W.; Sira Ramirez, H.; Monaco, Salvatore; Stornelli, S.. - STAMPA. - (1987), pp. 1281-1287. (Intervento presentato al convegno 26th IEEE Conference on Decision and Control tenutosi a Los Angeles, California nel 9-11 December 1987) [10.1109/CDC.1987.272618].
Variable structure control of globally feedback-decoupled deformable vehicle maneuvers
MONACO, Salvatore;
1987
Abstract
The use of Cayley-Rodrigues attitude parameters as kinematic variables is shown to yield a globally linearized and decoupled model of the equations of motion of a deformable body, wherein the structural deformation state appears only in the coefficients of the inverse transformation. It is then shown how commanded multi-axial attitude maneuvers can be encoded as switching surfaces for a variable structure control implementation of the corresponding computed slew torques, automatically modulated in response only to detected angular rate error signs, for accurate tracking in the presence of separately damped or even uncontrolled (but stable) structural deformations.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
