Control the moving objects

Adaptive decomposing control algorithms for semiactive bundles of mechanical systems

V. M. Sukhanov, E. M. Firsova

Institute of Control Sciences, Russian Academy of Sciences

Abstract: The problem of developing adaptive control algorithms that provide the decomposition of space robotic module (SRM) model is considered. The SRM is a multivariate mechanical system. The paper offers the technique of controller retuning algorithm synthesis based on the concepts of searchless adaptation with a reference model. This ensures the desirable dynamics of module subsystems operation. The possibility of damping the elastic oscillations of the transported payload is investigated. The damping is implemented by nonstandard application of conventional actuators of the SRM's manipulator.

UDC: 517.977.5:629.78