Control system design of multivariable non‐linear space robots
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 25 January 2008
Abstract
Purpose
The paper's purpose is to initiate an effort that will result in a systematic approach for design of control systems for multivariable, nonlinear, and unstable space robots.
Design/methodology/approach
The design approach is based on multivariable describing function (DF) models of the space robot coupled with the use of factorization technique. The design approach is to obtain the multivariable DF models followed by application of a previously developed factorization‐based controller design formula. Finally, the design must be verified by a non‐linear simulation to make sure that approximations made during design are valid.
Findings
It is found that the DF approach may successfully be applied in order to control nonlinear, multivariable, and unstable systems such as space robots.
Research limitations/implications
At present, the approach is verified to be applicable to rigid space robots.
Practical implications
The major outcome of this research is that complicated controllers of a class of space robots may be replaced by simpler controllers, taking into account the amplitude dependency features of the space robot; this amplitude dependency is the most important characteristic of a non‐linear system.
Originality/value
This is the first paper in the area of multivariable and unstable space robot controller design that is based on the application of the DF technique. In fact this is the first work in the area of general unstable non‐linear control system design that is based on a DF technique.
Keywords
Citation
Nassirharand, A. (2008), "Control system design of multivariable non‐linear space robots", Aircraft Engineering and Aerospace Technology, Vol. 80 No. 1, pp. 27-34. https://doi.org/10.1108/00022660810841985
Publisher
:Emerald Group Publishing Limited
Copyright © 2008, Emerald Group Publishing Limited