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Robust Control Of Nonlinear Multibody Flexible Space Structures, Atul G. Kelkar

Mechanical & Aerospace Engineering Theses & Dissertations

A generic nonlinear math model of a multibody flexible system is developed. Asymptotic stability of such systems using dissipative compensators is established. It is proved that, under certain conditions, this class of systems exhibit global asymptotic stability under dissipative compensation. The dissipative compensators considered are static as well as dynamic dissipative compensators. The stability proofs are based on passivity approaches, Lyapunov methods, as well as a key property of such systems, i.e., skew-symmetricity of certain matrix. The importance of the stability results obtained is that the stability is robust to parametric uncertainties and modeling errors.

For static dissipative compensators, it …