Precise, fault-tolerant pointing using a Stewart platform
Presents a precision pointing strategy. The principal contribution is the development of a fault-tolerant control which allows active pointing to continue despite multiple failures. A six-axes active platform is utilized to reject disturbances from a vibrating base to a precision payload. A decentra...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 1999-03, Vol.4 (1), p.91-95 |
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| container_end_page | 95 |
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| container_issue | 1 |
| container_start_page | 91 |
| container_title | IEEE/ASME transactions on mechatronics |
| container_volume | 4 |
| creator | McInroy, J.E. O'Brien, J.F. Neat, G.W. |
| description | Presents a precision pointing strategy. The principal contribution is the development of a fault-tolerant control which allows active pointing to continue despite multiple failures. A six-axes active platform is utilized to reject disturbances from a vibrating base to a precision payload. A decentralized controller is proposed which converts desired rotations into corresponding strut lengths via a decoupling transformation. The decoupling approach allows for simple single-input-single-output compensator design and for the incorporation of fault-tolerant strategies. The proposed strategy was evaluating on the microprecision interferometer testbed (a full-scale model of a future spaceborne optical interferometer) at the Jet Propulsion Laboratory, Pasadena, CA. Experimental pointing results demonstrate 50 dB of disturbance rejection at low frequency. In the laboratory ambient disturbance environment, this corresponds to a 1-/spl mu/rad rms pointing error. |
| doi_str_mv | 10.1109/3516.752089 |
| format | Article |
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The principal contribution is the development of a fault-tolerant control which allows active pointing to continue despite multiple failures. A six-axes active platform is utilized to reject disturbances from a vibrating base to a precision payload. A decentralized controller is proposed which converts desired rotations into corresponding strut lengths via a decoupling transformation. The decoupling approach allows for simple single-input-single-output compensator design and for the incorporation of fault-tolerant strategies. The proposed strategy was evaluating on the microprecision interferometer testbed (a full-scale model of a future spaceborne optical interferometer) at the Jet Propulsion Laboratory, Pasadena, CA. Experimental pointing results demonstrate 50 dB of disturbance rejection at low frequency. In the laboratory ambient disturbance environment, this corresponds to a 1-/spl mu/rad rms pointing error.</description><identifier>ISSN: 1083-4435</identifier><identifier>EISSN: 1941-014X</identifier><identifier>DOI: 10.1109/3516.752089</identifier><identifier>CODEN: IATEFW</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Active control ; Actuators ; Applied sciences ; Bandwidth ; Computer science; control theory; systems ; Control theory. Systems ; Decentralized control ; Decoupling ; Disturbances ; Drives ; Exact sciences and technology ; Fault tolerance ; Fault tolerant computer systems ; Interferometers ; Jacobian matrices ; Laboratories ; Linkage mechanisms, cams ; Mechanical engineering. Machine design ; Mechatronics ; NASA ; Optical interferometry ; Payloads ; Platforms ; Precision engineering, watch making ; Propulsion ; Robotics ; Strategy ; Vibrations ; Vibrations (mechanical)</subject><ispartof>IEEE/ASME transactions on mechatronics, 1999-03, Vol.4 (1), p.91-95</ispartof><rights>1999 INIST-CNRS</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c405t-48010428ee60e323279deb057262f0301e21b73b36244f7415827285c5a816663</citedby><cites>FETCH-LOGICAL-c405t-48010428ee60e323279deb057262f0301e21b73b36244f7415827285c5a816663</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/752089$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,314,780,784,789,790,796,23930,23931,25140,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/752089$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=1712656$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>McInroy, J.E.</creatorcontrib><creatorcontrib>O'Brien, J.F.</creatorcontrib><creatorcontrib>Neat, G.W.</creatorcontrib><title>Precise, fault-tolerant pointing using a Stewart platform</title><title>IEEE/ASME transactions on mechatronics</title><addtitle>TMECH</addtitle><description>Presents a precision pointing strategy. The principal contribution is the development of a fault-tolerant control which allows active pointing to continue despite multiple failures. A six-axes active platform is utilized to reject disturbances from a vibrating base to a precision payload. A decentralized controller is proposed which converts desired rotations into corresponding strut lengths via a decoupling transformation. The decoupling approach allows for simple single-input-single-output compensator design and for the incorporation of fault-tolerant strategies. The proposed strategy was evaluating on the microprecision interferometer testbed (a full-scale model of a future spaceborne optical interferometer) at the Jet Propulsion Laboratory, Pasadena, CA. Experimental pointing results demonstrate 50 dB of disturbance rejection at low frequency. In the laboratory ambient disturbance environment, this corresponds to a 1-/spl mu/rad rms pointing error.</description><subject>Active control</subject><subject>Actuators</subject><subject>Applied sciences</subject><subject>Bandwidth</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Decentralized control</subject><subject>Decoupling</subject><subject>Disturbances</subject><subject>Drives</subject><subject>Exact sciences and technology</subject><subject>Fault tolerance</subject><subject>Fault tolerant computer systems</subject><subject>Interferometers</subject><subject>Jacobian matrices</subject><subject>Laboratories</subject><subject>Linkage mechanisms, cams</subject><subject>Mechanical engineering. Machine design</subject><subject>Mechatronics</subject><subject>NASA</subject><subject>Optical interferometry</subject><subject>Payloads</subject><subject>Platforms</subject><subject>Precision engineering, watch making</subject><subject>Propulsion</subject><subject>Robotics</subject><subject>Strategy</subject><subject>Vibrations</subject><subject>Vibrations (mechanical)</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>1999</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqFkU1LxDAQhoMouK6evHnqQfSgXWfy2R5l8QsWFFTwVrJ1KpXudk1SxH9vahe9uZckMM88E-Zl7BBhggj5hVCoJ0ZxyPItNsJcYgooX7bjGzKRSinULtvz_h0AJAKOWP7gqKw9nSeV7ZqQhrYhZ5chWbX1MtTLt6Tz_WmTx0Cf1sVCY0PVusU-26ls4-lgfY_Z8_XV0_Q2nd3f3E0vZ2kpQYVUZoAgeUakgQQX3OSvNAdluOYVCEDiODdiLjSXsjISVcYNz1SpbIZaazFmp4N35dqPjnwoFrUvqWnsktrOFznmeezgsJE0Uou4Jdk7T_4l43w0wMVm0IBW4ueXZwNYutZ7R1WxcvXCuq8CoeizKfpsiiGbSB-vtdaXtqnixmMIfy0GuVa99GjAaiL6ra4d393zkhA</recordid><startdate>19990301</startdate><enddate>19990301</enddate><creator>McInroy, J.E.</creator><creator>O'Brien, J.F.</creator><creator>Neat, G.W.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>L7M</scope><scope>7TB</scope><scope>7U5</scope><scope>FR3</scope><scope>7TC</scope><scope>7SC</scope><scope>F28</scope><scope>JQ2</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>19990301</creationdate><title>Precise, fault-tolerant pointing using a Stewart platform</title><author>McInroy, J.E. ; O'Brien, J.F. ; Neat, G.W.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c405t-48010428ee60e323279deb057262f0301e21b73b36244f7415827285c5a816663</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>1999</creationdate><topic>Active control</topic><topic>Actuators</topic><topic>Applied sciences</topic><topic>Bandwidth</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Decentralized control</topic><topic>Decoupling</topic><topic>Disturbances</topic><topic>Drives</topic><topic>Exact sciences and technology</topic><topic>Fault tolerance</topic><topic>Fault tolerant computer systems</topic><topic>Interferometers</topic><topic>Jacobian matrices</topic><topic>Laboratories</topic><topic>Linkage mechanisms, cams</topic><topic>Mechanical engineering. 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The principal contribution is the development of a fault-tolerant control which allows active pointing to continue despite multiple failures. A six-axes active platform is utilized to reject disturbances from a vibrating base to a precision payload. A decentralized controller is proposed which converts desired rotations into corresponding strut lengths via a decoupling transformation. The decoupling approach allows for simple single-input-single-output compensator design and for the incorporation of fault-tolerant strategies. The proposed strategy was evaluating on the microprecision interferometer testbed (a full-scale model of a future spaceborne optical interferometer) at the Jet Propulsion Laboratory, Pasadena, CA. Experimental pointing results demonstrate 50 dB of disturbance rejection at low frequency. In the laboratory ambient disturbance environment, this corresponds to a 1-/spl mu/rad rms pointing error.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/3516.752089</doi><tpages>5</tpages></addata></record> |
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| ispartof | IEEE/ASME transactions on mechatronics, 1999-03, Vol.4 (1), p.91-95 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Active control Actuators Applied sciences Bandwidth Computer science control theory systems Control theory. Systems Decentralized control Decoupling Disturbances Drives Exact sciences and technology Fault tolerance Fault tolerant computer systems Interferometers Jacobian matrices Laboratories Linkage mechanisms, cams Mechanical engineering. Machine design Mechatronics NASA Optical interferometry Payloads Platforms Precision engineering, watch making Propulsion Robotics Strategy Vibrations Vibrations (mechanical) |
| title | Precise, fault-tolerant pointing using a Stewart platform |
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