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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. CER, Attitude control, Attitude hold, Slewing, Space station, Eigenaxis, Quaternion, Euler parameters, Linear quadratic regulator, Kalman filter.
| Limitations: |
 APPROVED FOR PUBLIC RELEASE |
| Description: |
Master's thesis |
| Pages: |
91 |
| Report Date: |
SEP 92 |
| Report Number: |
A236752 |
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