YorkSpace
    • English
    • français
  • English 
    • English
    • français
  • Login
View Item 
  •   YorkSpace Home
  • Canadian Society for Mechanical Engineering (CSME) International Congress
  • CSME Conference Proceedings (May 27-30, 2018)
  • View Item
  •   YorkSpace Home
  • Canadian Society for Mechanical Engineering (CSME) International Congress
  • CSME Conference Proceedings (May 27-30, 2018)
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Lagrangian, Hamiltonian, And Energy-Based Control For Space Tethered System

Thumbnail
View/Open
CSME2018_paper_101.pdf (216.0Kb)
Date
May-18
Author
Kang, Junjie
Zhu, Zheng Hong


Metadata
Show full item record
Abstract
A typical and useful way to derive the dynamics equation of the tethered systems is by means of the Lagrange’s equations and various dynamic models of different tethered missions are established by the Lagrangian formulation. The Hamiltonian formulation is also widely used in the mechanical systems for its well-known symplectic structure property. With this in mind, the dynamics equation of the tethered system’s motion are deduced by Hamilton’s equations in this research. The relation between the Lagrangian and Hamiltonian is shown by Legendre transformation. The goodness of the Hamiltonian formulation is intuitive to reveal the Energy balance property that corresponds to the passivity property. Furthermore, the Hamiltonian energy function of tethered system is employed for facilitating the controller design. In order to bring the system into operations, the energy based control is to achieve the tethered system for precise positioning. Simulations are used to demonstrate the effectiveness of the designed controller.
URI
http://hdl.handle.net/10315/35240
http://dx.doi.org/10.25071/10315/35240
Collections
  • CSME Conference Proceedings (May 27-30, 2018)

All items in the YorkSpace institutional repository are protected by copyright, with all rights reserved except where explicitly noted.

YorkU LogoContact Us | Send Feedback
link to sitemap

 

Browse

All of YorkSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

LoginRegister

Statistics

View Usage Statistics

All items in the YorkSpace institutional repository are protected by copyright, with all rights reserved except where explicitly noted.

YorkU LogoContact Us | Send Feedback
link to sitemap