柔性梁旋转体的可控性分析

Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02. Pub Date : 2002-11-09 DOI:10.1109/ROMOCO.2002.1177132

A. Zuyev

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引用次数: 0

摘要

本文研究了具有若干欧拉-伯努利梁的旋转刚体的可控性。在拉格朗日形式主义框架下，得到了所考虑系统的非线性数学模型。指出该系统的有限维近似不是平坦的。如果系统中没有共振，则线性化动力学是可控的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Controllability analysis of a rotating body with flexible beams

The paper is focused on the controllability property of a rotating rigid body endowed with a number of the Euler-Bernoulli beams. A nonlinear mathematical model of the system considered is obtained within the framework of Lagrangian formalism. It is pointed out that a finite-dimensional approximation of the system is not flat. The linearized dynamics is shown to be controllable, provided that there is no resonance in the system.

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Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.

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