This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback


    Contributors:


    Publication date :

    1993-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :


    Multivariable control of the Space Shuttle Remote Manipulator Systemusing linearization by state feedback

    BEDROSSIAN, NAZARETH / VALAVANI, LENA / GETTMAN, CHANG-CHING et al. | AIAA | 1993


    93-3886 Multivariable Control of the Space Shuttle Remote Manipulator System Using Linearization by State Feedback

    Gettman, C. / Adams, N. / Bedrossian, N. et al. | British Library Conference Proceedings | 1993



    Force control of the space shuttle remote manipulator system

    Reuter, G. / Nguyen, T. | Tema Archive | 1990


    Neural joint control for Space Shuttle Remote Manipulator System

    ATKINS, MARK / COX, CHADWICK / LOTHERS, MICHAEL et al. | AIAA | 1992