Controls-Structures Interaction (CSI) is a technology currently under development for application to large flexible space vehicles. The goal of CSI is the improvement of spacecraft performance through active control of the structural dynamic response of the vehicle. This goal is particularly important for modern spacecraft designs where large size and reduced stiffness make structural response a significant contributor to vehicle dynamics. CSI analysis and design methods have been developed to analyze and predict flexible spacecraft performance, but the technology remains largely unvalidated by hardware experiments, demonstrations, or applications, particularly in-space flight applications. One potential application of CSI technology that has been considered is to provide active damping augmentation of the Space Shuttle Remote Manipulator System (RMS). The objective of actively damping the RMS is to demonstrate improved structural dynamic response following payload maneuvers and Shuttle reaction control system thruster firings. This paper describes an initial analysis effort to determine the feasibility of controlling the flexible dynamic response of the RMS. The approach to the study is summarized and results from both linear and nonlinear performance analyses of candidate control laws are presented. Results indicate that significant improvement in RMS dynamic response can be achieved through active control if measured RMS tip acceleration was made available for feedback.
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