Near-minimum-time maneuvers of flexible vehicles: A liapunov control law design method
© 1990 American Institute of Aeronautics and Astronautics, Inc. All rights reserved. A method for designing globally stable feedback control laws for maneuvers of flexible dynamical systems is presented. Both analytical and experimental results an; discussed. The approach readily accommodates known nonlinearities and applies to systems described by hybrid couplcd sets of ordinary and partial differential equations. A proof of Liapunov stability is given which does not rely upon spatially discretizing distributed parameter systems. Wc develop feed forward/feedback tracking-type control laws to null the departure of the system state from an a priori determined smooth target trajectory. The target trajectoty may be an exact or an approximate solution of the system equations of motion. This approach can be used to generate, for example, near-minimum-time feedback controllers which accommodates general “torque-shaping” to achieve a judicious compromise between near-minimum-time and competing performance indices such as levels of sensitivity to model errors, disturbances, and control implementation errors. The analytical and experimental results jointly provide strong analytical justification and conclusive experimental evidence of the practical merit of this approach to design of controllers for distributed parameter systems.
author list (cited authors)
Junkins, J. L., Rahman, Z. H., & Bang, H.