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Nonholonomic control of coupled spatial multibody systems.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Nonholonomic control of coupled spatial multibody systems./
作者:	Chen, Chih-Keng.
面頁冊數:	1 online resource (134 pages)
附註:	Source: Dissertations Abstracts International, Volume: 55-12, Section: B.
Contained By:	Dissertations Abstracts International55-12B.
標題:	Aerospace materials. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9416194click for full text (PQDT)
ISBN:	9798207437095

Nonholonomic control of coupled spatial multibody systems.
Chen, Chih-Keng.

Nonholonomic control of coupled spatial multibody systems. - 1 online resource (134 pages)

Source: Dissertations Abstracts International, Volume: 55-12, Section: B.

Thesis (Ph.D.)--Case Western Reserve University, 1993.

Includes bibliographical references

This dissertation is concerned with dynamic modeling, controllability and control synthesis of coupled multibody systems. The systems are configured as open kinematic chain and with large angle motions in three dimensional space. Angular momentum preserving reorientation problem is of interest here. This has applications in multibody satellites and space robotics, and, in the understanding of the classical cat fall problem. A coordinate free representation of dynamics for a multibody system, composed of rigid bodies connected by ball-in-socket joints without kinematic loops, is derived. The conservation of angular momentum results in a nonholonomic constraint. Important properties of nonholonomic system are discussed. Controllability is explored in a coordinate free form. Local coordinate results can then be easily derived. A sufficient condition for strong accessibility and small time local controllability (STLC) is derived. We give a nonsmooth feedback control law to control the absolute orientation of two-body system. This synthesis approach based on a path planning method: multi-cycle joint motion. We prove that the applicability of the control synthesis using linear motions along a closed relative angle path requires controllability condition to be satisfied. The computer simulation results illustrate the convergent property of this control design. Results presented here are a nontrivial extension of previous work on planar systems. All results can be extended to tree connected multibody systems and can be applied to many mechanical system with nonholonomic constraint.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798207437095Subjects--Topical Terms:

3433227
Aerospace materials.
Index Terms--Genre/Form:

542853
Electronic books.

Nonholonomic control of coupled spatial multibody systems.
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245 1 0 $a Nonholonomic control of coupled spatial multibody systems.
264 0 $c 1993
300 $a 1 online resource (134 pages)
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500 $a Source: Dissertations Abstracts International, Volume: 55-12, Section: B.
500 $a Publisher info.: Dissertation/Thesis.
500 $a Advisor: Sreenath, N.
502 $a Thesis (Ph.D.)--Case Western Reserve University, 1993.
504 $a Includes bibliographical references
520 $a This dissertation is concerned with dynamic modeling, controllability and control synthesis of coupled multibody systems. The systems are configured as open kinematic chain and with large angle motions in three dimensional space. Angular momentum preserving reorientation problem is of interest here. This has applications in multibody satellites and space robotics, and, in the understanding of the classical cat fall problem. A coordinate free representation of dynamics for a multibody system, composed of rigid bodies connected by ball-in-socket joints without kinematic loops, is derived. The conservation of angular momentum results in a nonholonomic constraint. Important properties of nonholonomic system are discussed. Controllability is explored in a coordinate free form. Local coordinate results can then be easily derived. A sufficient condition for strong accessibility and small time local controllability (STLC) is derived. We give a nonsmooth feedback control law to control the absolute orientation of two-body system. This synthesis approach based on a path planning method: multi-cycle joint motion. We prove that the applicability of the control synthesis using linear motions along a closed relative angle path requires controllability condition to be satisfied. The computer simulation results illustrate the convergent property of this control design. Results presented here are a nontrivial extension of previous work on planar systems. All results can be extended to tree connected multibody systems and can be applied to many mechanical system with nonholonomic constraint.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2023
538 $a Mode of access: World Wide Web
650 4 $a Aerospace materials. $3 3433227
650 4 $a Mechanical engineering. $3 649730
650 4 $a Systems design. $3 3433840
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650 4 $a Aerospace engineering. $3 1002622
655 7 $a Electronic books. $2 lcsh $3 542853
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710 2 $a ProQuest Information and Learning Co. $3 783688
710 2 $a Case Western Reserve University. $3 1017714
773 0 $t Dissertations Abstracts International $g 55-12B.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9416194 $z click for full text (PQDT)