平面2リンク宇宙ロボットに対する適応不変マニフォールドベースト切替制御（第2報）---実験検証---

Abstract

Controlling of a space robot without actuators on the main body is an underactuated control problem. As stabilization methods, various methods such as time-varying feedback controllers, discontinuous feedback controllers, center manifold based methods, zero-dynamics methods, and sliding mode controllers have been proposed. However, in these methods, modeling errors and delay time have not been sufficiently considered. In order to obtain faster convergence time and compensate modeling errors and delay time, the adaptive invariant manifold based switching control method has been proposed. In this paper, experiments are carried out to validate the proposed method using the experimental setup of a planar two-link space robot. The experimental results show that the proposed method was capable of stabilizing the state variables to the goal one even if there exist the delay time and modeling error in the system.