3D attitude near-optimal control of a universal joint space robot model with initial angular momentum

Tatsuya Kai, Kazuho Tamaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper deals with a control problem for a space robot of two rigid bodies subject to initial angular momentum. We first give a model of a space robot with initial angular momentum, called the universal joint model. Next, we propose a near-optimal control method for nonlinear affine control systems based on the finite dimensional Fourier basis, and show a near-optimal control algorithm. Then, we apply the near-optimal control algorithm to 3D attitude control of the universal joint model with initial angular momentum, and illustrate some simulations to show the effectiveness of our method.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Control and Automation, ICCA 2009
Pages2335-2340
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2009
Event2009 IEEE International Conference on Control and Automation, ICCA 2009 - Christchurch, New Zealand
Duration: 9 Dec 200911 Dec 2009

Publication series

Name2009 IEEE International Conference on Control and Automation, ICCA 2009

Conference

Conference2009 IEEE International Conference on Control and Automation, ICCA 2009
CountryNew Zealand
CityChristchurch
Period9/12/0911/12/09

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Kai, T., & Tamaki, K. (2009). 3D attitude near-optimal control of a universal joint space robot model with initial angular momentum. In 2009 IEEE International Conference on Control and Automation, ICCA 2009 (pp. 2335-2340). [5410600] (2009 IEEE International Conference on Control and Automation, ICCA 2009). https://doi.org/10.1109/ICCA.2009.5410600