کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
712040 892143 2015 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Control of a flexible spacecraft using discrete IDA-PBC design
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Control of a flexible spacecraft using discrete IDA-PBC design
چکیده انگلیسی

This paper has two objectives, first synthesize a discrete-time IDA-PBC for an underactuated port-Hamiltonian system, and second stabilize the angular position of an experimental testbed used in aerospace engineering. Based on the energetic integrator, the discrete-time methodology that exactly preserves the passivity property is presented for a linear Hamiltonian system with physical damping. A stability condition is given when taking the desired Hamiltonian as Lyapunov candidate function. The model of the spacecraft is composed of a rigid central body actuated by a torque motor around the vertical axis with two flexible appendages and a local mass at the tip of each appendage. Experiments are carried out to assess the validity of the more theoretical design methodology. The results show that the performances of our design results are better compared to an emulation controller obtained by sample and hold or Tustin transformation of the continuous-time controller.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 48, Issue 13, 2015, Pages 188-193