Design and Control of a Space Based Two Link Manipulator with Lyapunov Based Control Laws
Abstract
The Flexible Spacecraft Simulator (FSS) at the Naval Postgraduate School was modified by replacing the flexible appendage with a two link robotic manipulator. This experimental setup was designed to simulate motion of a spacecraft about the pitch axis. The spacecraft consists of a main body, a two link manipulator, and momentum wheel with actuator to control the pitch attitude of the spacecraft. Position information from the main body and manipulators were obtained from Rotary Variable Displacement Transducers (RVDT's). The equations of motion were developed assuming that the main body and manipulator were rigid bodies. The resulting coupled, nonlinear, time variant equations of motion were used to analyze the dynamics and kinematics of the body, manipulator as well as the interaction between the two. Three different control strategies were developed using Lyapunov's Second or Direct Method. With the first controller, simple linear feedback of position and velocity information with constant gains was used to position the manipulator and stabilize the main body. A fifth order polynomial was used to generate a reference trajectory for the second controller. This trajectory was used in conjunction with a tracking Lyapunov controller to position and stabilize the system. In the third controller, a near-minimum-time technique was used to generate a reference trajectory. This reference trajectory was employed to design a tracking controller similar to that used in the polynomial reference controller.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 1992
- Accession Number
- ADA257568
Entities
People
- Dennis Sorensen
Organizations
- Naval Postgraduate School