Nonlinear control and synchronization of multiple Lagrangian systems with application to tethered formation flight spacecraft

This dissertation focuses on the synchronization of multiple dynamical systems using contraction theory, with applications to cooperative control of multi-agent systems and synchronization of interconnected dynamics such as tethered formation flight. Inspired by stable combinations of biological systems, contraction nonlinear stability theory provides a systematic method to reduce arbitrarily complex systems into simpler elements. One application of oscillation synchronization is a fully decentralized nonlinear control law, which eliminates the need for any inter-satellite communications. We use contraction theory to prove that a nonlinear control law stabilizing a single-tethered spacecraft can also stabilize arbitrarily large circular arrays of tethered spacecraft, as well as a three-spacecraft inline configuration. The convergence result is global and exponential due to the nature of contraction analysis. The proposed decentralized control strategy is further extended to robust adaptive control in order to account for model uncertainties. Numerical simulations and experimental results validate the exponential stability of the tethered formation arrays by implementing a tracking control law derived from the reduced dynamics.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2007

Author dc:creator

• Chung, Soon-Jo, 1976-

Advisor dc:contributor.advisor

• David W. Miller and Jean-Jacques E. Slotine.

• Aeronautics and Astronautics.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://ssl.mit.edu/spheres/videos.html
• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Identifier URI

http://ssl.mit.edu/spheres/videos.html

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/40304