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Robust Control of Space Robot Paying Attention to Nonlinearity

Research Project

Project/Area Number 05555069
Research Category

Grant-in-Aid for Developmental Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field Dynamics/Control
Research InstitutionChiba University

Principal Investigator

NONAMI Kenzo  Chiba University, Faculty of Eng, Professor, 工学部, 教授 (30143259)

Co-Investigator(Kenkyū-buntansha) YASUZUMI Ichiro  Ishikawajima-Harima Heavy Ind.Research Inst., 技術研究所, 研究員
SAITO Osamu  Ishikawajima-Harima Heavy Ind.Research Inst., 技術研究所, 研究員
KOBAYASHI Nobuyuki  Ishikawajima-Harima Heavy Ind.Research Inst., 技術研究所, 課長
NISHIMURA Hidekazu  Chiba University, Faculty of Eng, Research Associte, 工学部, 助手 (70228229)
Project Period (FY) 1993 – 1994
Project Status Completed (Fiscal Year 1994)
Budget Amount *help
¥12,000,000 (Direct Cost: ¥12,000,000)
Fiscal Year 1994: ¥2,700,000 (Direct Cost: ¥2,700,000)
Fiscal Year 1993: ¥9,300,000 (Direct Cost: ¥9,300,000)
KeywordsSpace Robot / Attitude Control / Discrete Time Sliding Mode Control / Robust Control / Nonlinear Control / Chattering / Experiment / スライディングモード制御 / DSP制御 / スラスタ / リアクションホイール
Research Abstract

An attitude control algorithm of a free-flying space robot with thrusters is proposed. It is well known that the motion of the manipulator attached to the main body of a space robot causes the attitude deviation of the main body because of dynamic interaction, and an effective attitude control algorithm is desired. An equation of motion for the attitude of the space robot is derived using the Lagrange equation. The proposed disturbed torque compensation algorithm, which is a kind of feedforward control is as follows. The inertia force, which is calculated from the equation of motion, is considered as the disturbance torque for the main body. Thrusters act to compensate the impulse of the disturbance torque. The proposed algorithm is compared with the time optimal control and time-fuel optimal control algorithms. Simulation results of attitude deviations and input energy are discussed.
Also, this research proposes the effectiveness of the computer based discrete time sliding mode control algorithm to compensate the attitude deviation of the main body of a free-flying space robot, which is caused by both the motion of manipulators on it, and the disturbance caused by capturing a flying target such as space debris. The controller design methodology using discrete time sliding mode control algorithm is developed. And the performance of it is compared with those current discrete time PD control algorithm and continuous time sliding mode control algorithm causes no chattering that is often observed in the case of the continuous time sliding mode control algorithm. It is clarified that the discrete time sliding mode control algorithm is the highest performance and robustness than other control algorithm.

Report

(3 results)
  • 1994 Annual Research Report   Final Research Report Summary
  • 1993 Annual Research Report
  • Research Products

    (20 results)

All Other

All Publications (20 results)

  • [Publications] 小林信之・斉藤修・野波建蔵: "宇宙ロボットの姿勢制御(第1報、スラスターによる制御)" 日本機械学会論文集C編. 59. 1459-1464 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 小林信之・斉藤修・野波建蔵・藤社進: "宇宙ロボットの姿勢制御(第2報、フィードフォワード フィードバック協調制御)" 日本機械学会論文集C編. 60. 3138-3143 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 小林信之・野波建蔵・安住一郎・中山隆之: "離散時間スライディングモード制御による物体捕捉時の宇宙ロボットの姿勢制御" 日本機械学会論文集C編. (掲載予定).

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K Kobayashi, O. Saito, K. Nonami, S. Tosha: "Attitude Control Algorithm for Free-Flying Space Robot(Cooperative Control of Feedforward and Feedback)" Journal of Robotics and Mechatronics. 6. 200-207 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K. Nonami, I. Yasuzumi, N. Kobayashi, T. Nakayama, O. Saito: "Attitude Control Algorithm for Free-Flying Space Robot" Proc. Second Int Conf on Motion and Vibration Control. 515-520 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 野波建蔵・田 宏奇: "スライディングモード制御" コロナ社, 263 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] N.Kobayashi, O.Saito, K.Nonami: "Attitude Control of A Free-Flying Space Robot(1st Report, Feedforward Control with Thruster)" Transaction of the Japan Society of Mechanical Engineers. 59-561. 1459-1464 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] N.Kobayashi, O.Saito, K.Nonami: "Attitude Control of A Free-Flying Space Robot(2nd Report, Cooperative Control of Feedforward and Feedback)" Transaction of the Japan Society of Mechanical Engineers. 60-577. 3138-3143 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] N.Kobayashi, O.Saito, K.Nonami and S.Tosha: "Attitude Control Algorithm for Free-Flying Space Robot(Cooperative Control of Feedforward and Feedback)" Journal of Robotics and Mechatronics. Vol.6, No.3. 200-207 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] N.Kobayashi, K.Nonami, I.Yasuzumi, T.Nakayama: "Attitude Control of A Free-Flying Space Robot with Discrete Time Sliding Mode Control Taking Flying Target Cative" Transaction of the Japan Society of Mechanical Engineers. (to appear).

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K.Nonami, I.Yasuzumi, N.Kobayashi, T.Nakayama and O.Saito: "Attitude Control Algorithm for Free-Flying Space Robot" Proc.of the Second International Conference on Motion and Vibration Control. 515-520 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Kenzo Nonami and Hongqi Tian: Sliding Mode Control. Corona Pub., (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K.Nonami,I.Yasuzumi,N.Kobayashi,T.Nakayama,O.Saito: "Attitude Control Algorithm for Free-Flying Space Robot" Proc.Second Int.Conf.on Motion and Vibration Control. 515-520 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] N.Kobayashi,O.Saito,K.Nonami,S.Tosha: "Attitude Control Algorithm for Free-Flying Space Robot(Cooperative Control of Feedforward and Feedback)" Journal of Robotics and Mechatronics. 6. 200-207 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 小林信之・斉藤修・野波健蔵・藤社進: "宇宙ロボットの姿勢制御(第2報,フィードフォワード・フィードバック協調制御)" 日本機械学会論文集 C編. 60. 3138-3143 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 小林信之・・野波健蔵・安住一郎・中山隆之: "離散時間スライディングモード制御による物体捕捉時の宇宙ロボットの姿勢制御" 日本機械学会論文集 C編. (掲載予定).

    • Related Report
      1994 Annual Research Report
  • [Publications] 野波建蔵・田 宏奇: "スライディングモード制御" コロナ社, 263 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 小林信之・斉藤修・野波健蔵: "宇宙ロボットの姿勢制御(第1報スラスターによる制御)" 日本機械学会論文集C編. 59. 1459-1464 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 小林信之・斉藤修・野波健蔵: "宇宙ロボットの姿勢制御(第2報フィードフォワード・フィードバック協調制御)" 「第3回運動と振動の制御」講演論文集. 313-318 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 小林信之・野波健蔵 他3名: "宇宙ロボットの姿勢制御(第3報 離散時間スライディングモード制御)" 日本機械学会「AV-Dシンポジウム」講演論文集. 104-107 (1994)

    • Related Report
      1993 Annual Research Report

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Published: 1993-04-01   Modified: 2016-04-21  

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