AAS 95-375

Direct Adaptive Control for SAFER/Astronaut System

S. Tanygin and T. Williams, Dept. of Aerospace Engineering, University of Cincinnati, Cincinnati, OH

Abstract

The Simplified Aid for EVA Rescue (SAFER) is a jet backpack which provides a full range of translational and rotational maneuvers for the astronaut. Analysis of STS-64 mission data showed non-negligible coupling in the SAFER/astronaut system. This cannot be overcome using conventional control since this system naturally possesses mass parameter uncertainties and variations. This paper will describe an approach for direct adaptive control of SAFER by using the command generator tracker (CGT) method. This allows tracking of a desired model by an uncertain plant and reduces on-board computation. Particular properties of space structures lead to further modifications of the CGT method.