Addressing the tricky challenge of controlling versatile spacecraft having a number of articulated appendages is the purpose of this quantity. Such platforms are wanted for area venture strategies together with multi-payload area systems and self reliant space-based manipulators. those platforms are characterized through hugely nonlinear dynamics, flexibility in contributors and joints, low inherent damping, and modeling uncertainty. a whole nonlinear rotational dynamic version of a standard multibody versatile approach is derived, and is proven to own definite passivity homes. the most result's a category of passivity-based nonlinear and linear output suggestions keep watch over legislation that allow globally good closed-loop manoeuvres. The keep watch over legislation are strong to parametric uncertainties, unmodeled uncertainties, and every now and then, actuator and sensor nonlinearities. All effects given also are acceptable to versatile terrestrial manipulators.
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