Multivariable control of the Space Shuttle Remote Manipulator SystemLinear controllers are designed to regulate the end effector of the Space Shuttle Remote Manipulator System (SRMS) operating in position hold mode. Design techniques used include H2 and H-infinity optimization. The nonlinear SRMS is linearized by modeling the effects of the significant nonlinearities as uncertain parameters. Each regulator design is evaluated for robust stability using both the small gain theorem with an H-infinity norm and the less conservative mu-analysis test. Regulator designs offer significant improvement over the current system for the nominal plant. Unfortunately, the SRMS model suffers from lightly damped poles with real parametric uncertainty. Under such conditions, the mu-analysis test, which allows for complex perturbations, cannot guarantee robust stability.
Document ID
19910065147
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Adams, Neil J. (Draper (Charles Stark) Lab., Inc. Cambridge, MA, United States)
Appleby, Brent D. (Charles Stark Draper Laboratory, Inc. Cambridge, MA, United States)
Prakash, OM, II (Draper (Charles Stark) Lab., Inc. Cambridge, MA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1991
Subject Category
Man/System Technology And Life Support
Report/Patent Number
AIAA PAPER 91-2828
Meeting Information
Meeting: AIAA Guidance, Navigation and Control Conference