A5 平面2リンク宇宙ロボットに対する適応不変マニフォールドベースト切替制御

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Controlling of a space robot without actuators on the main body is an underactuated control problem. As stabilization methods, time-varying feedback controllers, discontinuous feedback controllers, centre manifold methods, zero-dynamics methods, and sliding mode controllers have been proposed. Mukherjee et at have established an almost smooth and time-invariant feedback control method with respect to a planer two-link space robot, by introducing a concept of a "radially isometric orientation," which is the attitude variation of the main body caused by the link motions, based on the angular momentum conservative law, and can be interpreted as an invariant manifold, from any states on which the goal state can be achieved. However, their method suffers from slow rate of convergence. In addition, modeling errors and delay time have not been considered in the past control methods. In order to obtain more fast convergence time and compensate modeling errors and delay time, adaptive invariant manifold based switching control method is proposed. Firstly the link angles are controlled to reach the invariant manifold by constant periodic motion and the modeling error is estimated by a discrete adaptive method. Secondly the angular velocity rate of the two links is controlled to constant for the state to slide on the invariant manifold and reach the goal state. In the first stage, the delay time is detected by measuring the difference between the predicted response and the actual one. In order to evaluate the performance of the switching control method, numerical simulations are conducted not only for the case with modeling error, but also with delay time.
2009-01-23

A5 平面2リンク宇宙ロボットに対する適応不変マニフォールドベースト切替制御

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