制御量制約を考慮した高速タンブリング物体の実時間姿勢制御法(第3報) : 保存性状態量を利用したフィードバック制御則の導出

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This paper describes a new control algorithm for achieving any arbitrary attitude and angular velocity states of a rigid body, even fast and complicated tumbling rotations, under some practical constraints. This technique is expected to be applied for the attitude motion synchronization to capture a non-cooperative, tumbling object in such missions as removal of debris from orbit, servicing broken-down satellites for reparing or inspection, rescue of manned vehicles, etc. For this objective, we have introduced a novel control algorithm called Free Motion Path Method (FMPM), which was first formulated as an open-loop controller. Following the previous paper, which derives the conservative state variables formulation of the rotating motion of rigid body, this paper describes a feedback controller using these conservative variables as the state vectors to realize the closed-loop FMPM. It is shown in this paper that with this controller, we can explicitly limit the maximum required torque, as well as guarantee the stability, regardless of the speed and complexity of the target tumbling motion.
2006-04-05