Attitude control of space robots with a manipulator using time-state control form

  • Sampei, Mitsuji (Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology) ;
  • Kiyota, Hiromitsu (Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology) ;
  • Ishikawa, Masato (Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology)
  • Published : 1995.10.01

Abstract

In this paper, we propose a new strategy for a space robot to control its attitude. A space robot is an example of a class of non-holonomic systems, a system of which cannot be stabilized into its equilibria with continuous static state feedbacks even in the case that the system is, in some sense, controllable. Thus, we cannot design stabilizing controllers for space robots using conventional control theories. The strategy presented here transforms the non-holonomic system into a time-state control form, and allows us to make the state of the original system any desired one. In the stabilization, any conventional control theory can be applied. For simplicity, a space robot with a two-link manipulator is considered, and a simulated motion of the controlled system is shown.