宇宙ロボット姿勢の同時フィードバック安定化 Simultaneous Feedback Stabilization of Space Robot Attitude

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The subject of this paper is a space robot that has a manipulator arm mounted on a satellite body. This paper investigates the problem for stabilizing the attitude of both the main body of a space robot and the joint angles of a manipulator independently and simultaneously. Two control methods are proposed here for the solutions of this problem. One is a time-varying feedback controller, and the other is a time-invariant feedback controller. The former controller has the theoretical success for the topological obstructions, but has the practical disadvantage. In contrast, the latter controller has the practical usefulness in spite of the theoretical incompleteness. Furthermore, it is shown that each control method has the robustness against the presence of parametric uncertainties such as model errors and signal noises. The effectiveness of each controller is verified by numerical simulations.

収録刊行物

  • 日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences  

    日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences 54(635), 549-554, 2006-12-05 

    一般社団法人 日本航空宇宙学会

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各種コード

  • NII論文ID(NAID)
    10018580507
  • NII書誌ID(NCID)
    AA11307372
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    13446460
  • NDL 記事登録ID
    8619768
  • NDL 雑誌分類
    ZN25(科学技術--運輸工学--航空機・ロケット)
  • NDL 請求記号
    Z74-B503
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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