MANEUVER AND VIBRATION CONTROL OF HYBRID COORDINATE SYSTEMS USING LYAPUNOV STABILITY THEORY

Abstract

In this study, we present a generalized control law design methodology that covers a large class of systems, especially flexible structures described by hybrid discrete/distributed coordinate systems. The Lyapunov stability theory is used to develop globally stabilizing control laws. A hybrid version of Hamilton's canonical equations is introduced, which provides a direct path to designing stabilizing control laws for general nonlinear hybrid systems. The usual loss of robustness due to model reduction is overcome by this Lyaponov approach, which does not require truncation of the flexible systems into finite dimensional discrete systems.