The design of an adaptive attitude control system.
Loading...
Authors
Russo, Nicholas F.
Subjects
CER
attitude control
attitude hold
slewing
Space Station
eigenaxis
quaternion
Euler Parameters
Linear Quadratic Regulator
Kalman Filter
attitude control
attitude hold
slewing
Space Station
eigenaxis
quaternion
Euler Parameters
Linear Quadratic Regulator
Kalman Filter
Advisors
Burl, Jeffrey B.
Date of Issue
1992-09
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This research designed and simulated an adaptive attitude control system for the Crew Equipment/Retriever
(CER) during autonomous attitude hold and large angle or slewing maneuvers. The CER is a proposed space
robot that deploys from the Space Station and retrieves any lost equipment or incapacitated astronauts. The
moment of inertia tensor for the CER and acquired target is not known a priori. In this research, the moment of
inertia tensor is estimated by a Kalman filter and used to update the derived linear quadratic regulator (LQR) and
quaternion feedback regulator (QFR) control laws. Computer simulation results show that during attitude hold the
adaptive LQR design stabilizes the CER and provides a more fuel efficient controller effort: as compared with a
previously designed nonadaptive minimum time controller and a nonadaptive LQR design. Computer simulation
results of slewing maneuvers show that the adaptive QFR design provides a more fuel efficient controller: as
compared with a nonadaptive QFR design.
Type
Thesis
Description
Series/Report No
Department
Electrical Engineering
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
84 p.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.