宇宙ロボットの適応制御 Adaptive Control of Space Robots

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This paper is concerned with an adaptive control of free-flying space robots with uncertain inertial parameters of payloads. It is applicable to control all of the position and attitude of the satellite vehicle as well as that of the manipulator hand if the satellite has position/attitude control devices, e.g., thrusters and control momentum gyros. The proposed adaptive control realizes high control performance by estimating unknown parameters even if a control model has an error to the real plant caused by the payload. Asymptotic stability of the adaptive control is proven by Lyapunov's second method. The effectiveness is examined by numerical simulations for a hardware experimental system.

This paper is concerned with an adaptive control of free-flying space robots with uncertain inertial parameters of payloads. It is applicable to control all of the position and attitude of the satellite vehicle as well as that of the manipulator hand if the satellite has position/attitude control devices, e.g., thrusters and control momentum gyros. The proposed adaptive control realizes high control performance by estimating unknown parameters even if a control model has an error to the real plant caused by the payload. Asymptotic stability of the adaptive control is proven by Lyapunov's second method. The effectiveness is examined by numerical simulations for a hardware experimental system.

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), 832-838, 1998-09-15 

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

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各種コード

  • NII論文ID(NAID)
    10002864506
  • 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
    4545731
  • 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  CJP引用  NDL  IR  J-STAGE 
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