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dc.contributor.advisorAgrawal, Brij N.
dc.contributor.authorYale, Gary E.
dc.date.accessioned2013-01-23T21:59:29Z
dc.date.available2013-01-23T21:59:29Z
dc.date.issued1993-09
dc.identifier.urihttp://hdl.handle.net/10945/26437
dc.description.abstractThis research concerns the development of cooperative control of two spacecraft mounted two-link manipulators as they reposition a common payload. Lagrangian formulation is used to determine the system equations of motion. Lyapunov stability theory is used to develop the cooperative control by using a reference trajectory and reference actuator torques. Polynomial curves represent potential reference trajectories. Numerical methods select specific reference trajectories to minimize the disturbance torque transmitted to the spacecraft during the payload repositioning maneuver. The reference actuator torques are selected to minimize weighted norms of the torques. Analytical and experimental models of planar motion are used to study the performance of different cooperative controllers. The fifth order polynomial reference trajectory leads to superior performance in terms of spacecraft attitude accuracy, actuator torque magnitude, payload repositioning accuracy, and maneuver time. The higher order polynomial reference trajectory results in only minor improvement in performance. The experimental results verify the concept of cooperative controlen_US
dc.description.urihttp://archive.org/details/cooperativecontr1094526437
dc.format.extent168 p.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.titleCooperative control of multiple space manipulatorsen_US
dc.typeThesisen_US
dc.contributor.schoolNaval Postgraduate School
dc.contributor.departmentAeronautical Engineering
dc.subject.authorSpace Roboticsen_US
dc.subject.authorCooperative Controlen_US
dc.subject.authorAttitude Controlen_US
dc.description.serviceCaptain, United States Air Forceen_US
etd.thesisdegree.namePh.D. in Aeronautical and Astronautical Engineeringen_US
etd.thesisdegree.levelDoctoralen_US
etd.thesisdegree.disciplineAeronautical Engineeringen_US
etd.thesisdegree.disciplineAstronautical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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