Adaptive Deflection-Limiting Control for Slewing Flexible Space Structures

Kojima, Hirohisa; Singhose, William

doi:10.2514/1.23668

Cited by 39 publications

(21 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…46 Given the time delay required to calculate the dominant mode from sensor data, one adaptive approach measured the second vibration mode and then used a known relationship between the first and second modes to calculate the primary mode. 47 This Fig. 11 Input Shaper Robustness vs. Shaper Duration method can be advantageous because the second mode can be calculated from fewer sensor measurements; therefore, it can be obtained faster than the first mode.…”

Section: Adaptive Robustnessmentioning

confidence: 98%

“…This could be especially damaging for spacecraft, so researchers have modified the command-shaping process by adding additional constraints to limit transient deflection during the motion. 47,106 The methods discussed so far in this section require a numerical optimization to solve the constraint equations and determine the impulse times (command switch times). This can lead to large computational burdens that hamper real-time implementation.…”

Section: Input Shaping For Time-optimal Controlmentioning

confidence: 99%

See 1 more Smart Citation

Command shaping for flexible systems: A review of the first 50 years

Singhose

2009

Int. J. Precis. Eng. Manuf.

Self Cite

378

183

View full text Add to dashboard Cite

Section: Adaptive Robustnessmentioning

confidence: 98%

Section: Input Shaping For Time-optimal Controlmentioning

confidence: 99%

Command shaping for flexible systems: A review of the first 50 years

Singhose

2009

Int. J. Precis. Eng. Manuf.

Self Cite

378

183

View full text Add to dashboard Cite

“…Although the ZV shaper can suppress the residual vibration, it is not able to limit transient deflection of the flexible appendage within a desired/specified range. If transient deflection is also required to be limited, the deflection-limiting shaper, 22) adaptive deflection-limiting control method, 23) or model-predictive deflection-limiting control method 24) will be necessary. However, we only focus on the application of the ZV shaper in this study.…”

Section: Input-shaping Controlmentioning

confidence: 99%

Input-Shaped Link Motion Control of Planar Space Robot Equipped with Flexible Appendage

Kasai

Kojima

2012

Trans. Japan Soc. Aero. S Sci.

Self Cite

View full text Add to dashboard Cite

Control of a space robot without actuators on the main body is an underactuated control problem. Various stabilization methods, such as the time-varying feedback control method, discontinuous feedback control method, center manifold-based method, zero-dynamics method and sliding-mode control method have been proposed. However, past studies have not considered underactuated space robots equipped with a flexible appendage, such as solar panels. If the manipulators are simply controlled to achieve the target state for the robot using the past controllers without taking a flexible appendage into consideration, residual vibration remains even after the link motion has finished. In order to suppress the residual vibration on the flexible appendage, we apply the input-shaping technique to the link motion of an underactuated planar space robot. Numerical and experimental studies are carried out to validate the proposed method for a planar duallink space robot with a flexible appendage. The results show that the proposed method is capable of not only controlling the link angles and the main body attitude to the goal angles, but also suppressing the residual vibration on the flexible appendage.

show abstract

“…These input shapers can suppress residual vibrations if the system parameters are well known, or the change in modeling parameters is limited to within a reasonable bound. However, if the system has a large range of unknown or varying frequencies, then another approach is needed to make the control methods more robust [29].…”

Section: Introductionmentioning

confidence: 99%

Vibration Control Using Input Shaping and Adaptive Positive Position Feedback

Orszulik

Shan

2011

Journal of Guidance, Control, and Dynamics

View full text Add to dashboard Cite

This paper presents a vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/ actuator pair. Dynamic modeling of the flexible manipulator is first shown, and then a control law is developed. The proposed vibration controller combines the input shaping technique with multimode adaptive positive position feedback. An adaptive parameter estimator based on the recursive least-square method is developed to update the system's natural frequencies, which are used by the adaptive positive position feedback. A proportional-derivative controller is combined with the proposed vibration controller to suppress vibration while slewing the manipulator. Simulation results are presented to illustrate the efficacy of the proposed controller.

show abstract

Adaptive Deflection-Limiting Control for Slewing Flexible Space Structures

Cited by 39 publications

References 7 publications

Command shaping for flexible systems: A review of the first 50 years

Command shaping for flexible systems: A review of the first 50 years

Input-Shaped Link Motion Control of Planar Space Robot Equipped with Flexible Appendage

Vibration Control Using Input Shaping and Adaptive Positive Position Feedback

Contact Info

Product

Resources

About