Time Varying Compensator Design for Reconfigurable Structures Using Non-Collocated Feedback

Anaysis and synthesis tools are developed to improve the dynamic performance of reconfigurable nonminimum phase, nonstrictly positive real-time variant systems. A novel Spline Varying Optimal (SVO) controller is developed for the kinematic nonlinear system. There are several advantages to using the SVO controller, in which the spline function approximates the system model, observer, and controller gain. They are: The spline function approximation is simply connected, thus the SVO controller is more continuous than traditional gain scheduled controllers when implemented on a time varying plant; it is easier for real-time implementations in storage and computational effort; where system identification is required, the spline funtion requires fewer experiments, namely four experiments; and initial startup estimator transients are eleminated. The SVO compensator was evaluated on a high fidelity simulation of the Shuttle Remote Manipulator System. The SVO controller demonstrated significant improvement over the present arm performance: (1) Damping level was improved by a factor of 3: and (2) Peak joint torque was reduced by a factor of 2 following Shuttle thruster firings.

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