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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Karray, F. Modi, V. J. Chan, J. K. |
| Copyright Year | 1991 |
| Description | Author affiliation: Post Doctoral Fellow, Department of Mechanical Engineering, The University of British Columbia, Vancouver, B.C., Canada, V6T 1W5 (Karray, F.) || Department of Mechanical Engineering, The University of British Columbia, Vancouver, B.C., Canada, V6T 1W5; Research Engineer, Ontario Hydro, Toronto, Canada (Chan, J. K.) || Professor, Fellow AIAA, ASME, Department of Mechanical Engineering, The University of British Columbia, Vancouver, B.C., Canada, V6T 1W5 (Modi, V. J.) |
| Abstract | The paper studies nonlinear dynamics and control of a class of space station based mobile flexible two-link manipulators, normally referred as the Mobile Servicing System (MSS). The governing nonlinear, nonautonomous and coupled equations of motion are described first followed by the modal discretization procedure. A parametric response study suggests situations with unacceptable levels of deflections and accelerations for certain proposed missions, as well as station libration and payload positioning errors. An inverse control technique is proposed to achieve high tracking accuracy of the MSS in presence of maneuver induced disturbances. The control strategy is so designed as to regulate the libration of the Space Station as well as to insure joints tracking of prescribed trajectories while limiting the effect of the structural vibration. Two different control schemes, both based on the feedback linearization technique, are developed and their relative merit assessed. |
| Starting Page | 1909 |
| Ending Page | 1912 |
| File Size | 458242 |
| Page Count | 4 |
| File Format | |
| ISBN | 0879425652 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-06-26 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Manipulator dynamics Nonlinear dynamical systems Feedback control Space stations Nonlinear control systems Control systems Couplings Nonlinear equations Acceleration Payloads |
| Content Type | Text |
| Resource Type | Article |
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