Position/Attitude Control for a Ground Testbed Simulating a Space Robot.

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  • 宇宙ロボット実験システムのための位置姿勢制御
  • ウチュウ ロボット ジッケン システム ノ タメ ノ イチ シセイ セイギョ

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Abstract

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.

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