Synthesis of local control for a robotic manipulator joint

The objective of the study is the synthesis of an algorithm for the automatic control of an electromechanical actuator in the rotational joint of a multi-link, robotic manipulator. Control performance is assessed in terms of ability of the controlled joint to follow a commanded joint angle, or a commanded joint angular rate. Part One of the...

Dynamics of flexible spacecraft: the internal balancing approach towards mathematical model order reduction

Mathematical models of the dynamics of spacecraft are needed to carry out numerical simulations, to gain insight into the characteristics of the spacecraft dynamics, and to synthesize control algorithms suitable for online system Identification, estimation, and control. Increases in size and mechanical complexity of spacecraft result in...

Towards digital computer simulation of the dynamics of flexible spacecraft

Software design for digital computer simulation of the dynamics of flexible spacecraft equipped with actuators and sensors, should take into account two properties of the overall system: (i) s.ampled-data control of the spacecraft leads to discontinuous inputs (forcing functions) in the differential equations of motion, thereby requiring...