動的出力フィードバックによる宇宙機のトラッキング制御 : 受動性に基づいたアプローチ(機械力学,計測,自動制御)

Abstract

In this paper, we consider the position and attitude (six dof) tracking control of rigid body spacecraft by dynamic output feedback and proposed a new passivity based control method. To this end, the relative motion equation of the six dof rigid body spacecraft is first derived. Then, we design dynamic output feedback controller so that the closed loop system of the relative motion equation is asymptotically stabilized. By the proposed method, the spacecraft can track an arbitrary trajectory because the derived controller has no singular point. This is the excellent property compared with the conventional methods. Finally, effectiveness of the control methods is verified by numerical simulations.