Coordinated Control of a Satellite-Mounted Manipulator with Compensation for Inertial Parameter Variations (First Report). Formulation of a Proposed Coordinated Control.

摘要

The movement of a satellite-mounted manipulator can disturb the attitude of the satellite, and the inertial parameters of the system change with the configuration of the manipulator. In the proposed control method, this disturbance is absorbed by using feedforward control based on estimation of the manipulator angular momentum, and further errors are removed by using feedback control with gains that change according to the inertial parameter variations of the system. Our algorithm greatly reduces the number of calculations due to the use of a simplified model derived from a better understanding of some particular properties of space robots. Stability of the proposed control system is guaranteed by constracting a Lyapunov function.