Title :
Variable constraint control of underactuated free flying robots-mechanical design and convergence
Author :
Ikeda, Takayuki ; Nam, Taek-Kun ; Mita, Tsutomu ; Anderson, Brian D.O.
Author_Institution :
Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan
Abstract :
A new control method for underactuated nonlinear systems called a variable constraint control (VCC) is proposed. In this control method the first integral obtained by adding control constraints is used as an invariant manifold. The results are applied to the posture control problems of free flying robots and relations between convergence of the control and structural parameters of robots are discussed
Keywords :
aerospace robotics; attitude control; nonlinear control systems; control constraints; control method; convergence; invariant manifold; mechanical design; nonholonomic systems; posture control; structural parameters; underactuated free flying robots; underactuated nonlinear systems; variable constraint control; Australia; Control systems; Convergence; Feedback control; Mechanical variables control; Nonlinear control systems; Nonlinear systems; Orbital robotics; Robot kinematics; Systems engineering and theory;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.831310
