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Content Provider | IEEE Xplore Digital Library |
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Author | Ananthakrishnan, D.S. |
Copyright Year | 1995 |
Description | Author affiliation: Space Systems, McDonnell Douglas Aerospace, Houston, TX, USA (Ananthakrishnan, D.S.) |
Abstract | The purpose of this paper is to describe the work done towards modelling, design, and analysis of a joint adaptive pole assignment control augmentation to the existing servo rate feedback control system of the Space Shuttle Remote Manipulator System (SRMS). The principal objective of the augmentation is to demonstrate improved response of the system through better trajectory tracking, lower settling times, precise end effector motion, with existing hardware and sensors. The only modification is to the joint servo software. A fixed zero deterministic autoregressive moving average (DARMA) model based adaptive pole assignment controller is augmented to all the six joints of the existing fixed gain digital controller. The success of this design approach is demonstrated in multiple-input multiple-output (MIMO) tracking of rates in all the joints with lower settling times and no overshoot. |
Starting Page | 39 |
Ending Page | 44 |
File Size | 590996 |
Page Count | 6 |
File Format | |
ISBN | 0780319656 |
ISSN | 10504729 |
DOI | 10.1109/ROBOT.1995.525261 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 1995-05-21 |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Autoregressive processes Programmable control Adaptive control Servomechanisms MIMO Feedback control Space shuttles Trajectory Tracking End effectors |
Content Type | Text |
Resource Type | Article |
Subject | Electrical and Electronic Engineering Control and Systems Engineering Artificial Intelligence Software |
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