Limit-cycle-like control for planar space robot models with initial angular momenta

• Published in: Acta astronautica Vol. 74; pp. 20 - 28
• Main Author: Kai, Tatsuya
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.05.2012
• Subjects: Initial angular momentum; Limit-cycle-like control; Planar space robot model; Switching-type controller; Two-dimensional nonlinear control system; Planar space robot model; Limit-cycle-like control; Initial angular momentum; Two-dimensional nonlinear control system; Switching-type controller
• ISSN: 0094-5765; 1879-2030
• DOI: 10.1016/j.actaastro.2011.12.024

In this paper, we develop a new control strategy on limit cycles for planar space robot models with initial angular momenta. First, we state our problem formulation, and give some concepts and assumptions. Next, we derive a controller that generates a desired stable limit-cycle-like behavior for general two-dimensional nonlinear control systems, which is called limit-cycle-like control. We then give two kinds of specific forms of the controller and investigate some characteristics of them. After that, we apply the limit-cycle-like control methods to a control problem of a planar space robot model with an initial angular momentum, and some simulations are carried out in order to demonstrate the effectiveness of our new methods. ► We develop limit-cycle-like controllers for general two-dimensional nonlinear control system. ► Some properties of the limit-cycle-like controllers are shown. ► We give the model of the two-dimensional planar space robot with an initial angular momentum and derive some properties of it. ► Some simulations indicate the effectiveness of the limit-cycle-like control method.