Recent research on nonlinear guidance of either manipulators or spacecraft concerns the use of feedback linearization and decoupling to generate exact nominal commands. The advantage of such transformation is that the otherwise highly nonlinear controller can be implemented with parallel, systolic or pipelined microprocessor architectures. Such global linearization based on quaternion kinematics leads to a possible feedback singularity so that Gibbs vector kinematics is used here instead. In practice limits on available actuators could still lead to unsatisfactory or unstable response. Current investigation on the analytical side includes correction for saturation effects and oscillation prevention during saturated operating regimes. The desired controller is one that would fully utilize the available actuators while smoothly approaching the target state as well as avoiding oscillations.
Single step optimization of feedback-decoupled spacecraft attitude maneuvers
Einzelschritt-Optimierung eines Raumfahrzeug-Lagemanoevers mit Rueckkopplungsunterdrueckung
Proc. of the 24th IEEE Conf. on Decision and Control ; 1 ; 669-671
1985
3 Seiten, 6 Bilder, 12 Quellen
Conference paper
English