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ON THE SYNTHESIS OF DYNAMICS AND CONTROL FOR COMPLEX
MULTIBODY SYSTEMS
by
Aaron Dane Schutte
A Dissertation Presented to the
FACULTY OF THE GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Ful llment of the
Requirements of the Degree
DOCTOR OF PHILOSOPHY
(AEROSPACE ENGINEERING)
May 2009
Copyright 2009 Aaron Dane Schutte
Object Description
| Title | On the synthesis of dynamics and control for complex multibody systems |
| Author | Schutte, Aaron Dane |
| Author email | adschutte@gmail.com; aaron.d.schutte@aero.org |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Aerospace Engineering |
| School | Viterbi School of Engineering |
| Date defended/completed | 2008-11-19 |
| Date submitted | 2009 |
| Restricted until | Unrestricted |
| Date published | 2009-03-13 |
| Advisor (committee chair) | Udwadia, Firdaus E. |
| Advisor (committee member) |
Flashner, Henryk Yang, Bingen Goodson, Troy Gruntman, Michael |
| Abstract | This dissertation develops in a unified manner a new and simple approach for the modeling and control of complex multibody systems. Complex multibody systems are those nonlinear mechanical systems consisting of individual subsystems that are describable by nonlinear differential equations. The interaction of the various subsystems is, in general, governed by nonlinear 'elements.' The nonlinear analysis of general multibody systems presents theoretically challenging problems in both its dynamics and controls aspects. The theoretical developments obtained in this dissertation permit the modeling of multibody systems so that no restrictions are imposed in its formulation, except that its physical model is continuous. The idea of permissible multibody control is developed, and an effective method is provided for generating nonlinear controllers that satisfy a general set of control objectives.; The generalized acceleration describing the rotational motion of a rigid body in terms of quaternions is directly obtained thus providing a rotational description for the general motion of multibody systems. Utilizing this formulation, two new control strategies are obtained that explicitly yield the nonlinear control torque required to re-orient a rigid body from an arbitrary rest orientation to another arbitrary rest orientation. The application of this new approach to problems in complex multibody spacecraft systems is carried out for spacecraft precision pointing and to the precise tumbling control of an elastically connected multibody spacecraft system. Numerical examples are provided showing the ease of implementation of the methodology and the accuracy with which the control objectives are satisfied. These results illustrate the capability to easily generate physical models and provide exact control of highly nonlinear, complex multibody systems. |
| Keyword | general constrained systems; multibody dynamics and control; nonlinear systems; quaternions; rigid-body dynamics and control; spacecraft dynamics and control |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Provenance | Electronically uploaded by the author |
| Type | texts |
| Legacy record ID | usctheses-m2020 |
| Rights | Schutte, Aaron Dane |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | http://www.usc.edu/isd/libraries/services/ask_a_librarian/email/ |
| Filename | etd-Schutte-2566 |
| Archival file | uscthesesreloadpub_Volume51/etd-Schutte-2566.pdf |
Description
| Title | Page 1 |
| Full text | ON THE SYNTHESIS OF DYNAMICS AND CONTROL FOR COMPLEX MULTIBODY SYSTEMS by Aaron Dane Schutte A Dissertation Presented to the FACULTY OF THE GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Ful llment of the Requirements of the Degree DOCTOR OF PHILOSOPHY (AEROSPACE ENGINEERING) May 2009 Copyright 2009 Aaron Dane Schutte |
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