Robust Control of a Space Manipulator System with Elastic Joints

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概要

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• This paper is concerned with modeling and control of a space manipulator system with joint elasticity. A space manipulator is mounted on a free-flying base spacecraft. Two dimensional, in-plane motion of the space manipulator system is investigated. The equations of motion are derived by means of Lagrange's equation, including the joint elasticity which is treated as small deformation. A PD feedback controller is proposed for both manipulator and spacecraft control. The robustness of the control system is assured by the asymptotic stability of the system, defining a scalar function which will be a Lyapunov function. A practical control system design approach is also presented. Dynamical simulations as numerical examples demonstrate the robustness of the control system and the validity of our approach and analysis.

• 東海大学の論文

著者

• Tanaka Hide

  Graduate School Of Engineering Tokai University

• Tsuda Shin-ich

  Department of Aeronautics and Astronautics, School of Engineering, Tokai University

• Tsuda Shin-ich

  Department Of Aeronautics And Astronautics School Of Engineering Tokai University

関連論文

• Robust Control of a Space Manipulator System with Elastic Joints

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