三次元可変形状トラスによる衛星捕獲制御(S66-1 衛星と宇宙ロボットの制御,S66 宇宙ロボットと制御技術)  [in Japanese] Controller to Capture Malfunctioned Satellite by Three Dimensional Variable Geometry Truss  [in Japanese]

This paper discusses oh the control law for variable geometry truss (VGT) as space manipulator required to capture space debris. The end of truss is constrained to move periodically. The motion is simulated to synchronize trajectory of malfunctioned satellite, which is usually spinning or tumbling. Control law is also required to reduce energy consumption because of limited resources in space. New control law is derived from the locally optimal condition of minimum energy problem with periodic constraints. The simulation results show that the proposed controller has good ability to reduce the energy consumption by repeating motions.