Optimal control/structure integrated design of a flexible space platform with articulated appendages

Atul G. Kelkar; Thomas E. Alberts

doi:10.1117/12.46603

1 October 1991 Optimal control/structure integrated design of a flexible space platform with articulated appendages

Atul G. Kelkar, Thomas E. Alberts

Proceedings Volume 1489, Structures Sensing and Control; (1991) https://doi.org/10.1117/12.46603
Event: Orlando '91, 1991, Orlando, FL, United States

Abstract

A complete set of closed form symbolic equations are developed for a 2-D model of a system comprised of a flexible platform with articulated appendages. The system considered has a flexible two link manipulator, with joint compliance, at one end of the flexible platform and an articulated antenna on the other end. The model is formulated using a Lagrangian approach which incorporates homogeneous transformation matrices, similar to those typically seen in the robotics literature, for the kinematic representation. The integrated control/structure design strategy considered emphasizes rapid system response and minimal structural weight. Constraints are included to keep antenna pointing error to a minimum, and at the same time achieve accurate end point positioning of the manipulator with minimal oscillations.

Citation Download Citation

Atul G. Kelkar and Thomas E. Alberts "Optimal control/structure integrated design of a flexible space platform with articulated appendages", Proc. SPIE 1489, Structures Sensing and Control, (1 October 1991); https://doi.org/10.1117/12.46603

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