Abstract
This paper considers robust control problems for a 3D space robot of two rigid bodies connected by a universal joint with an initial angular momentum. It is particularly difficult to measure an initial angular momentum in parameters of space robots since the value of an initial angular momentum depends on the situations. Hence, the main purpose of this paper is to develop a robust controller with respect to initial angular momenta for the 3D space robot. First, a mathematical model, some characteristics, and two types of control problems for the 3D space robot are presented. Next, for the robust attitude stabilization control problem of the 3D space robot, a numerical simulation is performed by using the nonlinear model predictive control method. Then, for the robust trajectory tracking control problem of the 3D space robot, another numerical simulation is carried out. As a result, it turns out that this approach can realize robust control on initial angular momenta for the two control problems. In addition, computation amount is reduced by this approach and real-time control of the 3D space robot can be achieved.
Highlights
Since early times, “the falling cat phenomenon” is well known and this means that a cat can land on her feet despite it drops upside down from a tree
Problem 1 [Robust Attitude Stabilization Control]: For the universal joint model with an initial angular momentum (11), find control inputs such that the attitude of Rigid Body 1 α is stabilized to a desired value αd under the assumption on the existence of a parameter error for the initial angular momentum (P0 : an estimated value, P0 : a real value)
This paper has considered two kinds of robust control problems “the robust attitude stabilization control problem” and “the robust trajectory tracking control problem” for the 3D universal joint space robot with an initial angular momentum www.ijacsa.thesai.org
Summary
“the falling cat phenomenon” is well known and this means that a cat can land on her feet despite it drops upside down from a tree. The main aim of this research is to construct robust controllers in terms of physical parameter errors for two types of control problems of a 3D space robot with an initial angular momentum, and verify robustness of the new control methods via numerical simulations. B. Control Problems for 3D Space Robot with I.A.M. some characteristics of the universal joint model with an initial angular momentum (11) are investigated from the viewpoint of nonlinear control theory. We will tackle the problems (iii): the trajectory tracking control problem
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