Adaptive Control for a Spacecraft Robotic Manipulator
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
Pagination or Media Count:
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.
- Computer Programming and Software
- Space Navigation and Guidance