114 厳密な線形化に基づく宇宙ロボットの位置決め・姿勢制御

概要

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This paper studies the position and attitude control of a free-flying space robot with two-link-rigid-arm in two-dimensional motion. This model have a five-degree-of freedom that are position (x, y) and attitude angle (θ) of the body and two angles (θ_1,θ_2) of two-link-rigid-arm. The equation of motion for this model is very nonlinear, so we apply exact linearization with input-state linearization and realize a strong stable control in any state. The actuators are air thrustors. The control theory used is sliding mode control that is the nonlinear control theory. For simulating the dynamics of space robot experimentally, in our experimental system the robot equipped with a two-link-rigid-arm floats and is levitated by downward air pressure. The experimental system can realize the micro-gravity condition in space environment as two-dimensional plane. The validity of this proposal is experimentally verified using the above mentioned test rig.
一般社団法人日本機械学会の論文
2000-09-01