Robust Nonlinear Control of Flexible Space Structures

Abstract

In this paper we describe results on the robust implementation of decoupling control for multibody systems with flexible interactions. Requirements for decoupling control arise in input-output linearization of certain principal system outputs with respect to available controls. In many applications it is desired to decouple multibody dynamic interactions from critical system outputs using available controls. For decoupling control implementation to be robust it should be insensitive to model perturbations Here we consider parasitic dynamics arising from flexible interactions and consider the role of reduced order modeling and the implementation of Partial (input-output) Linearizing Feedback control. We highlight the importance of model reduction based on time scaling of the decoupled or zero dynamics.