Robust Control of a 3D Space Robot with an Initial Angular Momentum based on the Nonlinear Model Predictive Control Method

摘要

This paper considers robust control problems for a 3D space robot of two rigid bodies connected by a universal joint with an initial angular momentum. It is particularly difficult to measure an initial angular momentum in parameters of space robots since the value of an initial angular momentum depends on the situations. Hence, the main purpose of this paper is to develop a robust controller with respect to initial angular momenta for the 3D space robot. First, a mathematical model, some characteristics, and two types of control problems for the 3D space robot are presented. Next, for the robust attitude stabilization control problem of the 3D space robot, a numerical simulation is performed by using the nonlinear model predictive control method. Then, for the robust trajectory tracking control problem of the 3D space robot, another numerical simulation is carried out. As a result, it turns out that this approach can realize robust control on initial angular momenta for the two control problems. In addition, computation amount is reduced by this approach and real-time control of the 3D space robot can be achieved.