<h2>AAS 95-354</h2><h2>Control of a Chain of Flexible Bodies Using Lyapunov's Stability Theory </h2><h4>M. Keshmiri and A. K. Misra, Dept of Mechanical Engineering, McGill University, Montreal, Quebec</h4><h2> Abstract </h2>The paper considers systems that can be modelled by N lumped masses connected by N -1 uniaxial structural members.  Typical examples of such systems are multi-tethered satellite systems and space manipulators consisting of long flexible links.  Control of their motion in the large is studied.  A Lyapunov function is constructed by modifying the Hamiltonian appropriately and control laws are formulated using Lyapunov's stability theory.  Results for  several examples are presented.<br><br>