Dynamic gain scheduled control of a satellite with a robot manipulator

摘要：

Dynamic gain scheduling (DGS) is applied to control the end-effector of a robot manipulator mounted on a satellite. DGS is a novel control approach which exploits the availability of a linearized model at each operating point rather than using a complete nonlinear model. This practical study shows the feasibility of the DGS approach for a satellite system in three different simulated scenarios. In addition to the nominal case, the design of the controller based on uncertain model data is considered. Moreover, dynamic uncertainty for the actuator is introduced. For comparative reasons, a sliding mode controller (SMC) is used showing that the DGS-controller can cope well with both types of uncertainty.

作者: Weiwei Yang Guido Herrmann Xiaoqian Chen Mark Lowenberg

作者单位: Department of Aerospace and Material Engineering,National University of Defense Technology,Changsha, Department of Mechanical Engineering,University of Bristol,Bristol,BS8 1TR U.K. Department of Aerospace Engineering,University of Bristol,Bristol,BS8 1TR U.K.

会议类型: 国际会议

会议名称: The 3rd International Symposium on Systems and Control in Aeronautics and Astronautics(第三届航空航天系统与控制国际会议 ISSCAA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1154-1159

在线出版日期: 2010-01-08（万方平台首次上网日期，不代表论文的发表时间）