The AFIT gross motion control project
- Leahy, M. B., Jr.
- Jan 1, 1991.
- Physical Description:
- 1 electronic document
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available.
- The objective of the Gross Motion Control project is to study alternative control approaches that will provide payload invariant high speed trajectory tracking for nonrepetitive motions in free space. The research has concentrated on modifications to the model-based control structure. Development and evaluation is being actively pursued of both adaptive primary (inner loop) and robust secondary (output loop) controllers. In-house developments are compared and contrasted to the techniques proposed by other researchers. The case study for the evaluation is the first three links of a PUMA-560. Incorporating the principals of multiple model adaptive estimation, artificial neural networks, and Lyapunov theory into the model based paradigm has shown the potential for enhanced tracking. Secondary controllers based on Quantitative Feedback Theory, or augmented with auxiliary inputs, significantly improve the robustness to payload variations and unmodeled drive system dynamics. An overview is presented of the different concepts under investigation and a sample is provided of the latest experimental results.
- Document ID: 19910011337.
Accession ID: 91N20650.
NASA, Lyndon B. Johnson Space Center, Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90); p 67-73.
- No Copyright.
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