Considerations on a feedback control system for a space robot reorientation

Shinji Hokamoto, Toshirou Funasako

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

This study deals with feedback control of reorientation of a planar space robot. Mukherjee and Kamon propose to define 'a radially isometric orientation' and successfully establish a smooth time invariant control system. However the proposed controller suffers from slow rate of convergence for a desired configuration being placed on or near a zero-holonomy curve. They also propose two modified controllers for such configurations, but stability problem for the modified controllers remains future work and a criterion for choosing the original or modified controller is not discussed for general configurations. This paper proposes to adopt a 'moving desired configuration' for convergence to any desired configuration. The moving desired configuration is designed to move to a 'real' desired configuration with the system states close to an invariant manifold. The paper describes how to define the invariant manifold and how to move the moving desired point to the real one.

本文言語英語
ホスト出版物のタイトルCollection of Technical Papers - AIAA/AAS Astrodynamics Specialist Conference, 2006
出版社American Institute of Aeronautics and Astronautics Inc.
ページ1205-1213
ページ数9
ISBN(印刷版)1563478226, 9781563478222
DOI
出版ステータス出版済み - 2006
イベントAIAA/AAS Astrodynamics Specialist Conference, 2006 - Keystone, CO, 米国
継続期間: 8 21 20068 24 2006

出版物シリーズ

名前Collection of Technical Papers - AIAA/AAS Astrodynamics Specialist Conference, 2006
2

その他

その他AIAA/AAS Astrodynamics Specialist Conference, 2006
国/地域米国
CityKeystone, CO
Period8/21/068/24/06

All Science Journal Classification (ASJC) codes

  • 工学(全般)

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