Accession Number:

ADA277693

Title:

Adaptive Control for a Spacecraft Robotic Manipulator

Descriptive Note:

Master's thesis

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

1993-12-16

Pagination or Media Count:

109.0

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.

Subject Categories:

  • Computer Programming and Software
  • Space Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE