Variable structure control of globally feedback-decoupled deformable vehicle maneuversThe 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, where the structural deformation state appears only in the coefficients of the inverse transformation. It is shown how commanded multiaxial attitude maneuvers can be encoded as switching surfaces for a variable-structure control implementation of the corresponding computed slew torques, automatically modulated in respnse only to detected angular rate error signs, for accurate tracking in the presence of separately damped or even uncontrolled (but stable) structural deformations.
Document ID
19880047568
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Dwyer, T. A. W., III (Illinois, University Urbana, United States)
Sira-Ramirez, H. (Universidad de los Andes Merida, Venezuela)