TY - GEN
T1 - Robust control of space robot for capturing objects using optimal control method
AU - Huang, Panfeng
AU - Yan, Jie
AU - Yuan, Jianping
AU - Xu, Yangsheng
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=47349117445&partnerID=8YFLogxK
U2 - 10.1109/ICIA.2007.4295766
DO - 10.1109/ICIA.2007.4295766
M3 - 会议稿件
AN - SCOPUS:47349117445
SN - 1424412196
SN - 9781424412198
T3 - Proceedings of the 2007 International Conference on Information Acquisition, ICIA
SP - 397
EP - 402
BT - 2007 International Conference on Information Acquisition, ICIA
T2 - International Conference on Information Acquisition, ICIA 2007
Y2 - 9 July 2007 through 11 July 2007
ER -