Abstract
Applications of mechanical systems of a string with a rigid bodies subsystem have various possibilities for the engineering in extreme environment conditions, for example, in space or in ocean. This rigid bodies subsystem can be used as a robot subsystem. This paper discusses about attitude control of the rigid bodies subsystem, especially around an equilibrium point of the whole system. The control technique is consists of attitude control with reaction wheels and angular momentum control with manipulation of the rigid bodies subsystem. In order to confirm the effectiveness of the control approach, numerical simulations have been done, under condition that the shape of the string is described by the finite-element formulation, selecting a linear interpolation Also, from the view point of natural frequency analysis of the controlled system, characteristics of the control approach have been examined.
Distributed Robust Adaptive Learning Coordination Control for High-Order Nonlinear Multi-Agent Systems With Input Saturation
