Adaptive Control for a Spacecraft Robotic Manipulator

Abstract

This research involves the development of an adaptive control law for a space based two-link robotic manipulator. Non-adaptive controllers are first obtained utilizing feedback linearization techniques. A direct adaptive controller is then developed through the linear parameterization of the system dynamics, and the implementation of a Kalman Filter based adaption law. The controllers are then simulated and compared for various levels of system parameter uncertainty. The adaptive controller is found to be superior to the non-adaptive controllers for high levels of system parameter uncertainty. The non-adaptive controller is found to compare favorably to the adaptive controller in some areas for low values of system parameter uncertainty. The non-adaptive controller is implemented experimentally, consistent with hardware constraints. Experimental results verify the need for adaptive control when system dynamics are present which have not been modelled.

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Document Details

Document Type
Technical Report
Publication Date
Dec 16, 1993
Accession Number
ADA277693

Entities

People

  • George Janvier Iv

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Energy and Power Technologies
  • Space

DTIC Thesaurus Topics

  • Aeronautics
  • Angular Momentum
  • Astronautics
  • Computers
  • Control Systems
  • Control Systems Engineering
  • Dynamics
  • Engineering
  • Equations Of Motion
  • Feedback
  • High Gain
  • Joints (Anatomy)
  • Kalman Filters
  • Simulators
  • Space Based
  • Space Systems
  • Spacecraft

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers