Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback
- Author
- Gettman, Chang-Ching LO
- Published
- May 1, 1993.
- Physical Description
- 1 electronic document
Online Version
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- Restrictions on Access
- Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access - Summary
- This thesis develops and demonstrates an approach to nonlinear control system design using linearization by state feedback. The design provides improved transient response behavior allowing faster maneuvering of payloads by the SRMS. Modeling uncertainty is accounted for by using a second feedback loop designed around the feedback linearized dynamics. A classical feedback loop is developed to provide the easy implementation required for the relatively small on board computers. Feedback linearization also allows the use of higher bandwidth model based compensation in the outer loop, since it helps maintain stability in the presence of the nonlinearities typically neglected in model based designs.
- Other Subject(s)
- Collection
- NASA Technical Reports Server (NTRS) Collection.
- Note
- Document ID: 19930019891.
Accession ID: 93N29080.
NAS 1.26:188248.
NASA-CR-188248.
CSDL-T-1176. - Terms of Use and Reproduction
- Copyright, Distribution as joint owner in the copyright.
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