Multivariable control of the Space Shuttle Remote Manipulator System

Abstract

Linear controllers are designed to regulate the end effector of the Space Shuttle Remote Manipulator System (SRMS) operating in position hold mode. Design techniques used include H2 and H-infinity optimization. The nonlinear SRMS is linearized by modeling the effects of the significant nonlinearities as uncertain parameters. Each regulator design is evaluated for robust stability using both the small gain theorem with an H-infinity norm and the less conservative mu-analysis test. Regulator designs offer significant improvement over the current system for the nominal plant. Unfortunately, the SRMS model suffers from lightly damped poles with real parametric uncertainty. Under such conditions, the mu-analysis test, which allows for complex perturbations, cannot guarantee robust stability.