Attitude Control Algorithm for Free-Flying Space Robot (Cooperative Control of Feedforward and Feedback) | Zendy

Nobuyuki Kobayashi | Zendy; Osamu Saitô | Zendy; Kenzo AMI | Zendy; Susumu Tohsya | Zendy

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Attitude Control Algorithm for Free-Flying Space Robot (Cooperative Control of Feedforward and Feedback)

Author(s) -

Nobuyuki Kobayashi,

Osamu Saitô,

Kenzo AMI,

Susumu Tohsya

Publication year - 1994

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1994.p0200

Subject(s) - control theory (sociology) , feed forward , robustness (evolution) , robot , attitude control , computer science , control (management) , motion control , robot control , control engineering , torque , robust control , compensation (psychology) , sliding mode control , engineering , control system , mobile robot , artificial intelligence , nonlinear system , psychoanalysis , gene , thermodynamics , physics , psychology , biochemistry , chemistry , electrical engineering , quantum mechanics

An attitude control algorithm for a free-flying robot by the cooperative control of feedforward control and feedback control is proposed. The motion of a manipulator on a space robot causes the attitude deviation of the robot’s main body because of dynamic interaction. The proposed cooperative control algorithm is composed of Disturbed-Torque Compensation control on the thrusters, as feedforward control, and sliding mode control on the reaction wheels, which is a known method of robust control, as feedback control. The proposed algorithm is verified by a one-degree-of-freedom model test. In addition, the robustness is also discussed.

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