Abstract
A relatively general formulation for studying dynamics of a large class of interconnected flexible and/or rigid bodies forming a chain type topology is developed. The problem is approached using the Lagrangian procedure with the generalized forces accounting for the environmental effects, damping and control. The flexible members are taken to be the Euler-Bernoulli beams with their bending and torsional deformations discretized using a series of admissible functions. As a particular case, the general formulation is applied to study complex dynamics of the SCOLE (Spacecraft COntrol Laboratory Experiment) system as proposed in the NASA's design challenge. The classical infinite time linear state feedback regulator utilizing the Shuttle's primary and vernier thrusters is designed to suppress the vibrations as well as control the Shuttle attitude motion. The results suggest that flexibility of the mast during the prescribed slewing maneuver substantially induces the line-of-sight error if the Shuttle is uncontrolled. However, the proposed control strategy can damp both the vibrational motion of the mast and librational motion of the Shuttle to the specified acceptable limit within 5 s of the completion of the maneuver.
Published Version
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