3D Attitude Near-optimal Control of a Space Robot of Two Rigid Bodies with Initial Angular Momentum

• KAI Tatsuya

  Graduate School of Engineering, Osaka University

• TAMAKI Kazuho

  Nippon Steel Corporation

Bibliographic Information

Other Title

• 初期角運動量をもつ2剛体宇宙ロボットに対する3次元姿勢準最適制御
• ショキカク ウンドウリョウ オ モツ 2 ゴウタイ ウチュウ ロボット ニ タイスル 3ジゲン シセイ ジュン サイテキ セイギョ

Abstract

This paper deals with a control problem for a space robot of two rigid bodies subject to initial angular momentum. We first give a model of a space robot with initial angular momentum, called the universal joint model. Next, we propose a near-optimal control method for nonlinear affine control systems based on the finite-dimensional Fourier basis, and show a near-optimal control algorithm. Then, we apply the near-optimal control algorithm to 3D attitude control of the universal joint model with initial angular momentum, and show some simulations to indicate the effectiveness of the proposed method.

Journal

• Transactions of the Society of Instrument and Control Engineers

  Transactions of the Society of Instrument and Control Engineers 45 (6), 320-326, 2009

  The Society of Instrument and Control Engineers

Keywords

• space robot
• universal joint
• initial angular momentum
• nonholonomic affine constraints
• 3D attitude near-optimal control

Details

• CRID: 1390001204503722752
• NII Article ID: 10025090256
• NII Book ID: AN00072392
• DOI: 10.9746/sicetr.45.320
• ISSN: 18838189
• ISSN: 04534654
• ISSN: http://id.crossref.org/issn/04534654
• NDL BIB ID: 10370647
• Web Site: http://id.ndl.go.jp/bib/10370647
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10370647
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed