非線形モデル予測制御を応用したフリーフライング型宇宙ロボットによるターゲット衛星の回転運動減衰

抄録

This paper deals with a control strategy to attenuate the rotational motion of a target satellite with a manipulator mounted on a free-flying space robot. First, we approximate an impact force and a friction force between the manipulator and the target satellite with smooth functions. Then, the motions of the space robot and the target satellite are given by equations of motion. Next, we design a feedback control law of joint torques with nonlinear model predictive control. We also propose a performance index for determining the pushing and pulling of the manipulator according to the angular velocity of the target satellite. Finally, numerical simulation shows the effectiveness of this control law.