A technique called the Enhanced Disturbance Map to plan space manipulator motions that will result in relatively low spacecraft disturbances is presented. Although a spacecraft's attitude control reaction jets can compensate for the dynamic disturbances imposed on its spacecraft by its manipulator's motions, reaction jet fuel is a limited resource. Excessive disturbances would limit the life of...

This paper presents a technique called the Enhanced Disturbance Map to plan space manipulator motions that will result in relatively low spacecraft disturbances. This subject is of significant concern because future robotic systems used in space may encounter problems due to the dynamic disturbances imposed on their spacecraft by their manipulator motions. Although a spacecraft's attitude contr...

In this paper, slewing maneuver of a flexible spacecraft with large angle of rotation is considered and assuming structural frequency uncertainties a robust minimum-time optimal control law is developed. Considering typical bang-bang control commands with multiple symmetrical switches, a parameter optimization procedure is introduced to find the control forces/torques. The constrained minimizat...

Structural flexibility in spacecraft can degrade the accuracy of the attitude control system. With this motivation in mind, we compare the performance of inertia-free attitude control laws for a spacecraft with an undamped discrete flexible mode and demonstrate robustness with respect to unmodeled spacecraft dynamics and actuator saturation. First the equations of motion are derived using Lagra...

In this paper, experimental verifications of various jerk-limited control designs are presented. The focus is on a large slew maneuver of a flexible spacecraft where the fast and accurate pointing is required at the end of the maneuver. Various control profiles are investigated including input shaping and jerk-limited optimal control profiles, especially to account the effect of jerk in the con...

This paper is to investigate the coordinated attitude control problem for flexible spacecraft formations. Considering the attitude maneuver control problem of a formation composed of flexible spacecraft, two classes of decentralized attitude coordination control laws using behavior-based control approach are proposed. The first class of controllers can steer the attitude states of the flexible ...

This paper presents a new approach to vibration reduction of flexible spacecraft during attitude control by using Pulse Width Pulse Frequency (PWPF) Modulator for thruster firing and smart materials for active vibration suppression. The experiment was conducted on the Naval Postgraduate School (NPS) 's Flexible Spacecraft Simulator (FSS) , which consists of a central rigid body and an L-shape f...