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Single step optimization of manipulator maneuvers with variable structure controlOne step ahead optimization has been recently proposed for spacecraft attitude maneuvers as well as for robot manipulator maneuvers. Such a technique yields a discrete time control algorithm implementable as a sequence of state-dependent, quadratic programming problems for acceleration optimization. Its sensitivity to model accuracy, for the required inversion of the system dynamics, is shown in this paper to be alleviated by a fast variable structure control correction, acting between the sampling intervals of the slow one step ahead discrete time acceleration command generation algorithm. The slow and fast looping concept chosen follows that recently proposed for optimal aiming strategies with variable structure control. Accelerations required by the VSC correction are reserved during the slow one step ahead command generation so that the ability to overshoot the sliding surface is guaranteed.
Document ID
19880040084
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chen, N.
(Illinois Univ. Urbana, IL, United States)
Dwyer, T. A. W., III
(Illinois, University Urbana, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1987
Subject Category
Cybernetics
Meeting Information
Meeting: 1987 American Control Conference
Location: Minneapolis, MN
Country: United States
Start Date: June 10, 1987
End Date: June 12, 1987
Sponsors: American Automatic Control Council
Accession Number
88A27311
Funding Number(s)
CONTRACT_GRANT: NAG1-613
CONTRACT_GRANT: NSF ECS-85-16445
Distribution Limits
Public
Copyright
Other

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