Control of Space Manipulator Using Sliding Mode Control

Autor:	Keiken Ninomiya, Kouichi Harima, Jun'ichiro Kawaguchi, Ichiro Nakatani
Rok vydání:	1991
Předmět:	Computer Science::Robotics Spacecraft Control theory business.industry Control (management) Point (geometry) Satellite Manipulator Space (mathematics) business Sliding mode control Stability (probability) Mathematics
Zdroj:	Journal of the Robotics Society of Japan. 9:572-579
ISSN:	1884-7145 0289-1824
DOI:	10.7210/jrsj.9.572
Popis:	This paper proposes a method for controlling a space manipulator with an end-effector for grasping a satellite floating in space. The previously published methods have two problems, (1) they have not dealt with the case where a satellite-manipulator-target system has translational and rotational momenta, and (2) they need much calculation when an end-effector linearly approaches a target's grasping point. We applied a sliding mode control method, and the first problem was resolved by considering momenta as external distubrances and the second problem was dealt by considering the exponential convergence of errors. And we proved a practical stability of the control which means that relative errors can be suppressed within a planned sphere in a finite time (for a case where angular velocities of the manipulator arms were controlled) . This control scheme uses observed data obtained on-board the spacecraft. Finally the practicality of the proposed method is investigated and the efliiectiveness of that is demonstrated by computer simulations.
Databáze:	OpenAIRE
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