AAS 95-354

Control of a Chain of Flexible Bodies Using Lyapunov's Stability Theory

M. Keshmiri and A. K. Misra, Dept of Mechanical Engineering, McGill University, Montreal, Quebec

Abstract

The paper considers systems that can be modelled by N lumped masses connected by N -1 uniaxial structural members. Typical examples of such systems are multi-tethered satellite systems and space manipulators consisting of long flexible links. Control of their motion in the large is studied. A Lyapunov function is constructed by modifying the Hamiltonian appropriately and control laws are formulated using Lyapunov's stability theory. Results for several examples are presented.