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Nonlinear Attitude Control of Planar Structures in Space Using Only Internal Controls

机译:仅使用内部控制的空间中平面结构的非线性姿态控制

摘要

An attitude control strategy for maneuvers of an interconnection of planar bodies in space is developed. It is assumed that there are no exogeneous torques and that torques generated by joint motors are used as means of control so that the total angular momentum of the multibody system is a constant, assumed to be zero. The control strategy utilizes the nonintegrability of the expression for the angular momentum. Large angle maneuvers can be designed to achieve an arbitrary reorientation of the multibody system with respect to an inertial frame. The theoretical background for carrying out the required maneuvers is summarized.
机译:提出了一种操纵空间中平面物体相互连接的姿态控制策略。假定不存在外来转矩,并且将关节电机产生的转矩用作控制手段,以使多体系统的总角动量为常数,假定为零。控制策略将表达式的不可积分性用于角动量。可以设计大角度操纵,以实现多体系统相对于惯性框架的任意重新定向。总结了进行所需机动的理论背景。

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