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.
Limit-cycle-like control for planar space robot models with initial angular momenta
Acta Astronautica ; 74 ; 20-28
2011-12-30
9 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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