Abstract
This study discusses a feedback control system for reorientation of a planar space robot, whose angular momentum conservation leads to a nonholonomic constraint. One of the previous works for such systems defines a radially isometric orientation and establishes a smooth time-invariant feedback controller, but the proposed controller suffers from slow rate of convergence for a desired configuration placed near its zero-holonomy curve. This paper proposes a moving manifold based on a virtual desired configuration, which approaches to a real desired configuration in accordance with the distance to the moving manifold. The derived controller is effective for any desired configuration, and the convergence speed is improved. Some numerical simulations verify its effectiveness of the controller.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.