Robust control of space robot for capturing objects using optimal control method

Panfeng Huang, Jie Yan, Jianping Yuan, Yangsheng Xu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

17 Scopus citations

Abstract

The capturing operation for the space object by space robot can not be avoided in order to complete the on-orbital services, such as repairing, maintaining, inspecting and exchanging orbital replace unit (ORU). However, there are some unknown factors, such as the unknown payload and unknown modeling of object and the other uncertain dynamic parameters in the space robot, will affect the performance and the security of the space robot when the space robot captures the unknown object. Therefore, it is significant to design a robust control law that will guarantee the performance and security of the space robot under these uncertainties. Here, we propose a new optimal control method to robust control of space robot. To design the robust control law, we translate the robust control problem into an optimal control problem, where the uncertainties are reflected in the objective function index. We optimize this objective function to realize the robust control. An illustrative example shows that the proposed approach is remarkable.

Original languageEnglish
Title of host publication2007 International Conference on Information Acquisition, ICIA
Pages397-402
Number of pages6
DOIs
StatePublished - 2007
EventInternational Conference on Information Acquisition, ICIA 2007 - Jeju City, Korea, Republic of
Duration: 9 Jul 200711 Jul 2007

Publication series

NameProceedings of the 2007 International Conference on Information Acquisition, ICIA

Conference

ConferenceInternational Conference on Information Acquisition, ICIA 2007
Country/TerritoryKorea, Republic of
CityJeju City
Period9/07/0711/07/07

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