Principles Of Spacecraft Control

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Principles of Spacecraft Control

Author : Walter Fichter
Publisher : Springer Nature
ISBN 13 : 303104780X
Total Pages : 202 pages
Book Rating : 4.0/5 (31 download)

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Book Synopsis Principles of Spacecraft Control by : Walter Fichter

Download or read book Principles of Spacecraft Control written by Walter Fichter and published by Springer Nature. This book was released on 2022-10-11 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this textbook is to provide the mathematical models and algorithms needed to develop a thorough understanding of all control system functions of a rigid body spacecraft. Relatively simple, but practically applicable algorithms are presented rather than recent advances. We try to avoid detailed and specialized issues that are of less importance for the fundamental understanding, such as detailed environment models, etc. Furthermore, control problems that can be cast in standard formulations and solved with existing methods are not treated here. Instead, we intend to provide an understanding of the principles, put them in an engineering context, and try to give all explanations as concise as possible. Besides conventional three-axis attitude control systems, the following topics are treated in this book:• Control of agile rotation maneuvers using control moment gyros • Precise pointing control with error classes for pointing instruments • Control systems with accelerometers and free-flying test masses, which provide low-disturbance or disturbance-free environments We believe that these topics are of considerable relevance for the design of future spacecraft control systems, especially in the field of science and Earth observation missions.

Manned Spacecraft Design Principles

Author : Pasquale M. Sforza
Publisher : Elsevier
ISBN 13 : 0124199763
Total Pages : 649 pages
Book Rating : 4.1/5 (241 download)

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Book Synopsis Manned Spacecraft Design Principles by : Pasquale M. Sforza

Download or read book Manned Spacecraft Design Principles written by Pasquale M. Sforza and published by Elsevier. This book was released on 2015-11-13 with total page 649 pages. Available in PDF, EPUB and Kindle. Book excerpt: Manned Spacecraft Design Principles presents readers with a brief, to-the-point primer that includes a detailed introduction to the information required at the preliminary design stage of a manned space transportation system. In the process of developing the preliminary design, the book covers content not often discussed in a standard aerospace curriculum, including atmospheric entry dynamics, space launch dynamics, hypersonic flow fields, hypersonic heat transfer, and skin friction, along with the economic aspects of space flight. Key concepts relating to human factors and crew support systems are also included, providing users with a comprehensive guide on how to make informed choices from an array of competing options. The text can be used in conjunction with Pasquale Sforza's, Commercial Aircraft Design Principles to form a complete course in Aircraft/Spacecraft Design. - Presents a brief, to-the-point primer that includes a detailed introduction to the information required at the preliminary design stage of a manned space transportation system - Involves the reader in the preliminary design of a modern manned spacecraft and associated launch vehicle - Includes key concepts relating to human factors and crew support systems - Contains standard, empirical, and classical methods in support of the design process - Culminates in the preparation of a professional quality design report

Space Vehicle Dynamics and Control

Author : Bong Wie
Publisher : AIAA
ISBN 13 : 9781563472619
Total Pages : 692 pages
Book Rating : 4.4/5 (726 download)

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Book Synopsis Space Vehicle Dynamics and Control by : Bong Wie

Download or read book Space Vehicle Dynamics and Control written by Bong Wie and published by AIAA. This book was released on 1998 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt: A textbook that incorporates the latest methods used for the analysis of spacecraft orbital, attitude, and structural dynamics and control. Spacecraft dynamics is treated as a dynamic system with emphasis on practical applications, typical examples of which are the analysis and redesign of the pointing control system of the Hubble Space Telescope and the analysis of an active vibrations control for the COFS (Control of Flexible Structures) Mast Flight System. In addition to the three subjects mentioned above, dynamic systems modeling, analysis, and control are also discussed. Annotation copyrighted by Book News, Inc., Portland, OR

Spacecraft Attitude Determination and Control

Author : J.R. Wertz
Publisher : Springer Science & Business Media
ISBN 13 : 9400999070
Total Pages : 877 pages
Book Rating : 4.4/5 (9 download)

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Book Synopsis Spacecraft Attitude Determination and Control by : J.R. Wertz

Download or read book Spacecraft Attitude Determination and Control written by J.R. Wertz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 877 pages. Available in PDF, EPUB and Kindle. Book excerpt: Roger D. Werking Head, Attitude Determination and Control Section National Aeronautics and Space Administration/ Goddard Space Flight Center Extensiye work has been done for many years in the areas of attitude determination, attitude prediction, and attitude control. During this time, it has been difficult to obtain reference material that provided a comprehensive overview of attitude support activities. This lack of reference material has made it difficult for those not intimately involved in attitude functions to become acquainted with the ideas and activities which are essential to understanding the various aspects of spacecraft attitude support. As a result, I felt the need for a document which could be used by a variety of persons to obtain an understanding of the work which has been done in support of spacecraft attitude objectives. It is believed that this book, prepared by the Computer Sciences Corporation under the able direction of Dr. James Wertz, provides this type of reference. This book can serve as a reference for individuals involved in mission planning, attitude determination, and attitude dynamics; an introductory textbook for stu dents and professionals starting in this field; an information source for experimen ters or others involved in spacecraft-related work who need information on spacecraft orientation and how it is determined, but who have neither the time nor the resources to pursue the varied literature on this subject; and a tool for encouraging those who could expand this discipline to do so, because much remains to be done to satisfy future needs.

Safety Design for Space Systems

Author : Gary Eugene Musgrave
Publisher : Butterworth-Heinemann
ISBN 13 : 0080559220
Total Pages : 988 pages
Book Rating : 4.0/5 (85 download)

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Book Synopsis Safety Design for Space Systems by : Gary Eugene Musgrave

Download or read book Safety Design for Space Systems written by Gary Eugene Musgrave and published by Butterworth-Heinemann. This book was released on 2009-03-27 with total page 988 pages. Available in PDF, EPUB and Kindle. Book excerpt: Progress in space safety lies in the acceptance of safety design and engineering as an integral part of the design and implementation process for new space systems. Safety must be seen as the principle design driver of utmost importance from the outset of the design process, which is only achieved through a culture change that moves all stakeholders toward front-end loaded safety concepts. This approach entails a common understanding and mastering of basic principles of safety design for space systems at all levels of the program organisation. Fully supported by the International Association for the Advancement of Space Safety (IAASS), written by the leading figures in the industry, with frontline experience from projects ranging from the Apollo missions, Skylab, the Space Shuttle and the International Space Station, this book provides a comprehensive reference for aerospace engineers in industry. It addresses each of the key elements that impact on space systems safety, including: the space environment (natural and induced); human physiology in space; human rating factors; emergency capabilities; launch propellants and oxidizer systems; life support systems; battery and fuel cell safety; nuclear power generators (NPG) safety; habitat activities; fire protection; safety-critical software development; collision avoidance systems design; operations and on-orbit maintenance. - The only comprehensive space systems safety reference, its must-have status within space agencies and suppliers, technical and aerospace libraries is practically guaranteed - Written by the leading figures in the industry from NASA, ESA, JAXA, (et cetera), with frontline experience from projects ranging from the Apollo missions, Skylab, the Space Shuttle, small and large satellite systems, and the International Space Station - Superb quality information for engineers, programme managers, suppliers and aerospace technologists; fully supported by the IAASS (International Association for the Advancement of Space Safety)

Spacecraft Thermal Control

Author : J Meseguer
Publisher : Elsevier
ISBN 13 : 0857096087
Total Pages : 413 pages
Book Rating : 4.8/5 (57 download)

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Book Synopsis Spacecraft Thermal Control by : J Meseguer

Download or read book Spacecraft Thermal Control written by J Meseguer and published by Elsevier. This book was released on 2012-08-06 with total page 413 pages. Available in PDF, EPUB and Kindle. Book excerpt: Thermal control systems are an essential element of spacecraft design, ensuring that all parts of the spacecraft remain within acceptable temperature ranges at all times. Spacecraft thermal control describes the fundamentals of thermal control design and reviews current thermal control technologies. The book begins with an overview of space missions and a description of the space environment, followed by coverage of the heat transfer processes relevant to the field. In the third part of the book, current thermal control technologies are described, and in the final part, design, analysis and testing techniques are reviewed. - Provides background on the fundamentals of heat transfer which gives the reader a better understanding of the phenomenon and the way Space Thermal Control Systems work - Merges the experience of the authors in teaching aerospace engineering topics with the experience as compilers of the 'Spacecraft Thermal Control Design Data Handbook' of the European Space Agency and the development of in orbit thermal control systems for Spanish and ESA Missions - The engineering approach is enhanced with a full section on Thermal Control Design, Analysis and Testing

Analytical Mechanics of Space Systems

Author : Hanspeter Schaub
Publisher : AIAA
ISBN 13 : 9781600860270
Total Pages : 744 pages
Book Rating : 4.8/5 (62 download)

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Book Synopsis Analytical Mechanics of Space Systems by : Hanspeter Schaub

Download or read book Analytical Mechanics of Space Systems written by Hanspeter Schaub and published by AIAA. This book was released on 2003 with total page 744 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Spacecraft Dynamics and Control

Author : Enrico Canuto
Publisher : Butterworth-Heinemann
ISBN 13 : 0081017952
Total Pages : 792 pages
Book Rating : 4.0/5 (81 download)

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Book Synopsis Spacecraft Dynamics and Control by : Enrico Canuto

Download or read book Spacecraft Dynamics and Control written by Enrico Canuto and published by Butterworth-Heinemann. This book was released on 2018-03-08 with total page 792 pages. Available in PDF, EPUB and Kindle. Book excerpt: Spacecraft Dynamics and Control: The Embedded Model Control Approach provides a uniform and systematic way of approaching space engineering control problems from the standpoint of model-based control, using state-space equations as the key paradigm for simulation, design and implementation. The book introduces the Embedded Model Control methodology for the design and implementation of attitude and orbit control systems. The logic architecture is organized around the embedded model of the spacecraft and its surrounding environment. The model is compelled to include disturbance dynamics as a repository of the uncertainty that the control law must reject to meet attitude and orbit requirements within the uncertainty class. The source of the real-time uncertainty estimation/prediction is the model error signal, as it encodes the residual discrepancies between spacecraft measurements and model output. The embedded model and the uncertainty estimation feedback (noise estimator in the book) constitute the state predictor feeding the control law. Asymptotic pole placement (exploiting the asymptotes of closed-loop transfer functions) is the way to design and tune feedback loops around the embedded model (state predictor, control law, reference generator). The design versus the uncertainty class is driven by analytic stability and performance inequalities. The method is applied to several attitude and orbit control problems. - The book begins with an extensive introduction to attitude geometry and algebra and ends with the core themes: state-space dynamics and Embedded Model Control - Fundamentals of orbit, attitude and environment dynamics are treated giving emphasis to state-space formulation, disturbance dynamics, state feedback and prediction, closed-loop stability - Sensors and actuators are treated giving emphasis to their dynamics and modelling of measurement errors. Numerical tables are included and their data employed for numerical simulations - Orbit and attitude control problems of the European GOCE mission are the inspiration of numerical exercises and simulations - The suite of the attitude control modes of a GOCE-like mission is designed and simulated around the so-called mission state predictor - Solved and unsolved exercises are included within the text - and not separated at the end of chapters - for better understanding, training and application - Simulated results and their graphical plots are developed through MATLAB/Simulink code

Principles of Clinical Medicine for Space Flight

Author : Michael R. Barratt
Publisher : Springer Science & Business Media
ISBN 13 : 0387681647
Total Pages : 592 pages
Book Rating : 4.3/5 (876 download)

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Book Synopsis Principles of Clinical Medicine for Space Flight by : Michael R. Barratt

Download or read book Principles of Clinical Medicine for Space Flight written by Michael R. Barratt and published by Springer Science & Business Media. This book was released on 2008-03-20 with total page 592 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the years, a large body of knowledge has developed regarding the ways in which space flight affects the health of the personnel involved. Now, for the first time, this clinical knowledge on how to diagnose and treat conditions that either develop during a mission or because of a mission has been compiled by Drs. Michael Barratt and Sam L. Pool of the NASA/Johnson Space Center. Complete with detailed information on the physiological and psychological affects of space flight as well as how to diagnose and treat everything from dental concerns to decompression to dermatological problems encountered, this text is a must have for all those associated with aerospace medicine.

Fault-Tolerance Techniques for Spacecraft Control Computers

Author : Mengfei Yang
Publisher : John Wiley & Sons
ISBN 13 : 1119107415
Total Pages : 430 pages
Book Rating : 4.1/5 (191 download)

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Book Synopsis Fault-Tolerance Techniques for Spacecraft Control Computers by : Mengfei Yang

Download or read book Fault-Tolerance Techniques for Spacecraft Control Computers written by Mengfei Yang and published by John Wiley & Sons. This book was released on 2017-01-23 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprehensive coverage of all aspects of space application oriented fault tolerance techniques • Experienced expert author working on fault tolerance for Chinese space program for almost three decades • Initiatively provides a systematic texts for the cutting-edge fault tolerance techniques in spacecraft control computer, with emphasis on practical engineering knowledge • Presents fundamental and advanced theories and technologies in a logical and easy-to-understand manner • Beneficial to readers inside and outside the area of space applications

Spacecraft Formation Flying

Author : Kyle Alfriend
Publisher : Elsevier
ISBN 13 : 0080559654
Total Pages : 403 pages
Book Rating : 4.0/5 (85 download)

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Book Synopsis Spacecraft Formation Flying by : Kyle Alfriend

Download or read book Spacecraft Formation Flying written by Kyle Alfriend and published by Elsevier. This book was released on 2009-11-16 with total page 403 pages. Available in PDF, EPUB and Kindle. Book excerpt: Space agencies are now realizing that much of what has previously been achieved using hugely complex and costly single platform projects—large unmanned and manned satellites (including the present International Space Station)—can be replaced by a number of smaller satellites networked together. The key challenge of this approach, namely ensuring the proper formation flying of multiple craft, is the topic of this second volume in Elsevier's Astrodynamics Series, Spacecraft Formation Flying: Dynamics, control and navigation. In this unique text, authors Alfriend et al. provide a coherent discussion of spacecraft relative motion, both in the unperturbed and perturbed settings, explain the main control approaches for regulating relative satellite dynamics, using both impulsive and continuous maneuvers, and present the main constituents required for relative navigation. The early chapters provide a foundation upon which later discussions are built, making this a complete, standalone offering. Intended for graduate students, professors and academic researchers in the fields of aerospace and mechanical engineering, mathematics, astronomy and astrophysics, Spacecraft Formation Flying is a technical yet accessible, forward-thinking guide to this critical area of astrodynamics. - The first book dedicated to spacecraft formation flying, written by leading researchers and professors in the field - Develops the theory from an astrodynamical viewpoint, emphasizing modeling, control and navigation of formation flying satellites on Earth orbits - Examples used to illustrate the main developments, with a sample simulation of a formation flying mission included to illustrate high fidelity modeling, control and relative navigation

Fundamentals of Spacecraft Attitude Determination and Control

Author : F. Landis Markley
Publisher : Springer
ISBN 13 : 1493908022
Total Pages : 501 pages
Book Rating : 4.4/5 (939 download)

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Book Synopsis Fundamentals of Spacecraft Attitude Determination and Control by : F. Landis Markley

Download or read book Fundamentals of Spacecraft Attitude Determination and Control written by F. Landis Markley and published by Springer. This book was released on 2014-05-31 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores topics that are central to the field of spacecraft attitude determination and control. The authors provide rigorous theoretical derivations of significant algorithms accompanied by a generous amount of qualitative discussions of the subject matter. The book documents the development of the important concepts and methods in a manner accessible to practicing engineers, graduate-level engineering students and applied mathematicians. It includes detailed examples from actual mission designs to help ease the transition from theory to practice and also provides prototype algorithms that are readily available on the author’s website. Subject matter includes both theoretical derivations and practical implementation of spacecraft attitude determination and control systems. It provides detailed derivations for attitude kinematics and dynamics and provides detailed description of the most widely used attitude parameterization, the quaternion. This title also provides a thorough treatise of attitude dynamics including Jacobian elliptical functions. It is the first known book to provide detailed derivations and explanations of state attitude determination and gives readers real-world examples from actual working spacecraft missions. The subject matter is chosen to fill the void of existing textbooks and treatises, especially in state and dynamics attitude determination. MATLAB code of all examples will be provided through an external website.

Space Safety and Human Performance

Author : Barbara G. Kanki
Publisher : Butterworth-Heinemann
ISBN 13 : 0081018703
Total Pages : 946 pages
Book Rating : 4.0/5 (81 download)

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Book Synopsis Space Safety and Human Performance by : Barbara G. Kanki

Download or read book Space Safety and Human Performance written by Barbara G. Kanki and published by Butterworth-Heinemann. This book was released on 2017-11-10 with total page 946 pages. Available in PDF, EPUB and Kindle. Book excerpt: Space Safety and Human Performance provides a comprehensive reference for engineers and technical managers within aerospace and high technology companies, space agencies, operators, and consulting firms. The book draws upon the expertise of the world's leading experts in the field and focuses primarily on humans in spaceflight, but also covers operators of control centers on the ground and behavior aspects of complex organizations, thus addressing the entire spectrum of space actors. During spaceflight, human performance can be deeply affected by physical, psychological and psychosocial stressors. Strict selection, intensive training and adequate operational rules are used to fight performance degradation and prepare individuals and teams to effectively manage systems failures and challenging emergencies. The book is endorsed by the International Association for the Advancement of Space Safety (IAASS). - 2019 PROSE Awards - Winner: Category: Engineering and Technology: Association of American Publishers - Provides information on critical aspects of human performance in space missions - Addresses the issue of human performance, from physical and psychosocial stressors that can degrade performance, to selection and training principles and techniques to enhance performance - Brings together essential material on: cognition and human error; advanced analysis methods such as human reliability analysis; environmental challenges and human performance in space missions; critical human factors and man/machine interfaces in space systems design; crew selection and training; and organizational behavior and safety culture - Includes an endorsement by the International Association for the Advancement of Space Safety (IAASS)

Spacecraft Dynamics and Control

Author : Anton H. de Ruiter
Publisher : John Wiley & Sons
ISBN 13 : 1118403320
Total Pages : 562 pages
Book Rating : 4.1/5 (184 download)

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Book Synopsis Spacecraft Dynamics and Control by : Anton H. de Ruiter

Download or read book Spacecraft Dynamics and Control written by Anton H. de Ruiter and published by John Wiley & Sons. This book was released on 2012-12-05 with total page 562 pages. Available in PDF, EPUB and Kindle. Book excerpt: Provides the basics of spacecraft orbital dynamics plus attitude dynamics and control, using vectrix notation Spacecraft Dynamics and Control: An Introduction presents the fundamentals of classical control in the context of spacecraft attitude control. This approach is particularly beneficial for the training of students in both of the subjects of classical control as well as its application to spacecraft attitude control. By using a physical system (a spacecraft) that the reader can visualize (rather than arbitrary transfer functions), it is easier to grasp the motivation for why topics in control theory are important, as well as the theory behind them. The entire treatment of both orbital and attitude dynamics makes use of vectrix notation, which is a tool that allows the user to write down any vector equation of motion without consideration of a reference frame. This is particularly suited to the treatment of multiple reference frames. Vectrix notation also makes a very clear distinction between a physical vector and its coordinate representation in a reference frame. This is very important in spacecraft dynamics and control problems, where often multiple coordinate representations are used (in different reference frames) for the same physical vector. Provides an accessible, practical aid for teaching and self-study with a layout enabling a fundamental understanding of the subject Fills a gap in the existing literature by providing an analytical toolbox offering the reader a lasting, rigorous methodology for approaching vector mechanics, a key element vital to new graduates and practicing engineers alike Delivers an outstanding resource for aerospace engineering students, and all those involved in the technical aspects of design and engineering in the space sector Contains numerous illustrations to accompany the written text. Problems are included to apply and extend the material in each chapter Essential reading for graduate level aerospace engineering students, aerospace professionals, researchers and engineers.

Safety Design for Space Operations

Author : Firooz Allahdadi
Publisher : Butterworth-Heinemann
ISBN 13 : 0080969224
Total Pages : 1071 pages
Book Rating : 4.0/5 (89 download)

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Book Synopsis Safety Design for Space Operations by : Firooz Allahdadi

Download or read book Safety Design for Space Operations written by Firooz Allahdadi and published by Butterworth-Heinemann. This book was released on 2013-03-24 with total page 1071 pages. Available in PDF, EPUB and Kindle. Book excerpt: Endorsed by the International Association for the Advancement of Space Safety (IAASS) and drawing on the expertise of the world's leading experts in the field, Safety Design for Space Operations provides the practical how-to guidance and knowledge base needed to facilitate effective launch-site and operations safety in line with current regulations. With information on space operations safety design currently disparate and difficult to find in one place, this unique reference brings together essential material on: - Best design practices relating to space operations, such as the design of spaceport facilities. - Advanced analysis methods, such as those used to calculate launch and re-entry debris fall-out risk. - Implementation of safe operation procedures, such as on-orbit space traffic management. - Safety considerations relating to the general public and the environment in addition to personnel and asset protection. Taking in launch operations safety relating unmanned missions, such as the launch of probes and commercial satellites, as well as manned missions, Safety Design for Space Operations provides a comprehensive reference for engineers and technical managers within aerospace and high technology companies, space agencies, spaceport operators, satellite operators and consulting firms. - Fully endorsed by the International Association for the Advancement of Space Safety (IAASS), with contributions from leading experts at NASA, the European Space Agency (EASA) and the US Federal Aviation Administration (FAA), amongst others - Covers all aspects of space operations relating to safety of the general public, as well as the protection of valuable assets and the environment - Focuses on launch operations safety relating to manned and unmanned missions, such as the launch of probes and commercial satellites

Spacecraft Modeling, Attitude Determination, and Control

Author : Yaguang Yang
Publisher : CRC Press
ISBN 13 : 0429822138
Total Pages : 284 pages
Book Rating : 4.4/5 (298 download)

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Book Synopsis Spacecraft Modeling, Attitude Determination, and Control by : Yaguang Yang

Download or read book Spacecraft Modeling, Attitude Determination, and Control written by Yaguang Yang and published by CRC Press. This book was released on 2019-02-06 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses all spacecraft attitude control-related topics: spacecraft (including attitude measurements, actuator, and disturbance torques), modeling, spacecraft attitude determination and estimation, and spacecraft attitude controls. Unlike other books addressing these topics, this book focuses on quaternion-based methods because of its many merits. The book lays a brief, but necessary background on rotation sequence representations and frequently used reference frames that form the foundation of spacecraft attitude description. It then discusses the fundamentals of attitude determination using vector measurements, various efficient (including very recently developed) attitude determination algorithms, and the instruments and methods of popular vector measurements. With available attitude measurements, attitude control designs for inertial point and nadir pointing are presented in terms of required torques which are independent of actuators in use. Given the required control torques, some actuators are not able to generate the accurate control torques, therefore, spacecraft attitude control design methods with achievable torques for these actuators (for example, magnetic torque bars and control moment gyros) are provided. Some rigorous controllability results are provided. The book also includes attitude control in some special maneuvers, such as orbital-raising, docking and rendezvous, that are normally not discussed in similar books. Almost all design methods are based on state-spaced modern control approaches, such as linear quadratic optimal control, robust pole assignment control, model predictive control, and gain scheduling control. Applications of these methods to spacecraft attitude control problems are provided. Appendices are provided for readers who are not familiar with these topics.

Task-space Separation Principle

Author : Paolo Tommasino
Publisher : Springer
ISBN 13 : 9811303533
Total Pages : 115 pages
Book Rating : 4.8/5 (113 download)

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Book Synopsis Task-space Separation Principle by : Paolo Tommasino

Download or read book Task-space Separation Principle written by Paolo Tommasino and published by Springer. This book was released on 2018-05-26 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a “Task-space Separation Principle,” a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expands traditional formulations such as the Passive Motion Paradigm and the Equilibrium Point Theory. Lastly, breaking with the neuroscientific tradition of planar movements and linear(ized) kinematics, the theoretical formulation and experimental scenarios are set in the nonlinear space of 3D rotations which are essential for wrist motions, a somewhat neglected area despite its importance in daily tasks.