宇宙ロボット実験システムのための位置姿勢制御 Position/Attitude Control for a Ground Testbed Simulating a Space Robot

この論文にアクセスする

この論文をさがす

著者

抄録

A hardware satellite model with thrusters and a control moment gyro (CMG) is constructed to discuss position/attitude control methods for a ground testbed simulating a space robot. A bang-bang position control and two attitude control methods, i.e., a Lyapunov-type controller and an exact-linearization-based controller, are designed. Hardware experiments as well as numerical simulations show the feasibility of the modeling and the controllers. It is also shown that the developed position/attitude control system has enough performance for the ground testbed.

A hardware satellite model with thrusters and a control moment gyro (CMG) is constructed to discuss position/attitude control methods for a ground testbed simulating a space robot. A bang-bang position control and two attitude control methods, i.e., a Lyapunov-type controller and an exact-linearization-based controller, are designed. Hardware experiments as well as numerical simulations show the feasibility of the modeling and the controllers. It is also shown that the developed position/attitude control system has enough performance for the ground testbed.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 16(6), 824-831, 1998-09-15 

    日本ロボット学会 = The Robotics Society of Japan

参考文献:  22件

参考文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

各種コード

  • NII論文ID(NAID)
    10002864483
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4545730
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  IR  J-STAGE 
ページトップへ