Video Processing Approach to Control of Large Space Structures

Abstract

This experiment should be sufficiently general in nature and to be applicable to a variety of specific experiments intended to study implementation issues associated with robust control theories/methodologies for systems that are inertia variant in time, are highly flexible, can change configuration, and have nonlinear governing dynamics. Because it is intended that the hardware be designed to be general and suitable for a wide collection of individual experiments, the goals of this overall research are far-reaching and broad in scope. Practically speaking it is anticipated that the author will not accomplish all the goals listed below. Still, the project is designed to be “open-ended". 1. The foremost goal of the research is to design a prototype multiflexible-body experiment for use with a wide range of control strategies. 2. After completion of the final design of the nonlinear multibody dynamics experiment, the hardware will be implemented in the Spacecraft Dynamics and Control Laboratory. 3. Concurrently with phase (2) above, feasibility studies are conducted employing optical sensing and approximation theory to learn the inverse kinematics of the experiment.