3D Attitude Model Predictive Control and Validation of Robustness for a 3D Space Robot of Two Rigid Bodies with Initial Angular Momentum

Abstract

This paper addresses control of a 3D space robot of two rigid bodies with initial angular momentum. First, we explain the universal joint model with initial angular momentum. We next apply model predictive control to an attitude control problem of the universal joint model with initial angular momentum, and show a simulation result to confirm reduction of calculation amount. Then, a simulation with a modeling error of initial angular momentum is performed in order to check robustness.