NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Collections About News Help Login
Back to Results
Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedbackThis thesis develops and demonstrates an approach to nonlinear control system design using linearization by state feedback. The design provides improved transient response behavior allowing faster maneuvering of payloads by the SRMS. Modeling uncertainty is accounted for by using a second feedback loop designed around the feedback linearized dynamics. A classical feedback loop is developed to provide the easy implementation required for the relatively small on board computers. Feedback linearization also allows the use of higher bandwidth model based compensation in the outer loop, since it helps maintain stability in the presence of the nonlinearities typically neglected in model based designs.
Document ID
19930019891
Acquisition Source
Legacy CDMS
Document Type
Thesis/Dissertation
Authors
Gettman, Chang-Ching LO (Draper (Charles Stark) Lab., Inc. Cambridge, MA, United States)
Date Acquired
September 6, 2013
Publication Date
May 1, 1993
Subject Category
Mechanical Engineering
Report/Patent Number
NASA-CR-188248
NAS 1.26:188248
CSDL-T-1176
Accession Number
93N29080
Funding Number(s)
CONTRACT_GRANT: NAS9-18426
Distribution Limits
Public
Copyright
Public Use Permitted.

Related Records

There are no records associated with this record.
No Preview Available