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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dwyer, Thomas A. W. |
| Copyright Year | 1990 |
| Description | Author affiliation: Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801 (Dwyer, Thomas A. W.) |
| Abstract | When doing partial feedback decoupling of computed torques, the neglected elastic dynamics reappears in the expressions for generating the actuator inputs from those computed from the decoupled dynamics. This has motivated considerable research on the use of singular perturbation methods to create controls that force the coupled rotational and vibratory dynamics to evolve in a slow integral manifold. In such a constrained motion regime the elastic dynamics is expressible in terms of the attitude dynamics, thereby reducing slew actuator bandwidth requirements. In particular, it has been shown in previous work how to create "exact" slow manifolds by properly relating slew actuators and structural control actuators, which are polynomial in the chosen singular perturbation parameter, rather than correct only "to first order." That work was done for the fully linear case of small slew rates, for which only symbolic matrix inversions in the Laplace transform domain were needed. In this paper the high slew rates case is similarly treated. Gyroscopic coupling now leads to the presence of time-varying differential operators, so that symbolic operator multiplications and inversions in the time domain must be carried out (instead of simply Laplace transform matrix inversions). Only an outline of the results is given here. |
| Starting Page | 2437 |
| Ending Page | 2439 |
| File Size | 204264 |
| Page Count | 3 |
| File Format | |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1990-05-23 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Actuators Aerodynamics Polynomials Feedback Bandwidth Computer vision Force control Laplace equations Manipulator dynamics Shape control |
| Content Type | Text |
| Resource Type | Article |
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