Abstract
This paper considers position and attitude control of large flexible space structures composed of a number of subsystems(substructures) which are interconnected by flexible links modeled by springs and dampers. It is assumed that sensors and actuators are collocated in each subsystem. The purpose of the paper is to propose a decentralized control method by local proper controllers using only displacement / angular displacement output, which makes both each closed-loop subsystem and an overall closed-loop system not only robustly stable against uncertainty of characteristic parameters such as mass, damping, and stiffness, but also optimal for a quadratic cost function.
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