Controller design of a class of space flexible structure based on Controlled Lagrangian

A class of space flexible structure composed of a rigid central body and a flexible arm is investigated in this paper. The flexible structure can be modelled as an underactuated mechanical system. A new controller for the flexible structure is designed based on Controlled Lagrangian method and asymptotic stability of the closed-loop system is proved. The controller can realize rotational maneuver of the flexible arm and suppress its elastic vibration effectively. A simulation result demonstrates the effectiveness of the presented controller.