Abstract In this paper, we develop a new control strategy on limit cycles for planar space robot models with initial angular momenta. First, we state our problem formulation, and give some concepts and assumptions. Next, we derive a controller that generates a desired stable limit-cycle-like behavior for general two-dimensional nonlinear control systems, which is called limit-cycle-like control. We then give two kinds of specific forms of the controller and investigate some characteristics of them. After that, we apply the limit-cycle-like control methods to a control problem of a planar space robot model with an initial angular momentum, and some simulations are carried out in order to demonstrate the effectiveness of our new methods.

    Highlights ► We develop limit-cycle-like controllers for general two-dimensional nonlinear control system. ► Some properties of the limit-cycle-like controllers are shown. ► We give the model of the two-dimensional planar space robot with an initial angular momentum and derive some properties of it. ► Some simulations indicate the effectiveness of the limit-cycle-like control method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Limit-cycle-like control for planar space robot models with initial angular momenta


    Beteiligte:
    Kai, Tatsuya (Autor:in)

    Erschienen in:

    Acta Astronautica ; 74 ; 20-28


    Erscheinungsdatum :

    2011-12-30


    Format / Umfang :

    9 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch







    Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta

    Giordano, Alessandro Massimo / Garofalo, Gianluca / De Stefano, Marco et al. | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2016

    Freier Zugriff