Title :
Robot set-point control and spacecraft attitude regulation: some useful structural properties and new results
Author :
Ailon, A. ; Berman, N. ; Greenberg, B. ; Ahn, B.-H. ; Arogeti, Shai ; Cho, E.S.
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
This paper reveals some new structural properties of a rigid robot with state and output-based controllers. Applications of these properties allow one to design a controller that ensures both, global asymptotic stability of the nonlinear system and eigenvalues assignment of the resulting linear approximation within the stable region of the complex plane. Hence, required global and local control objective can be attained. Applications of the results to spacecraft attitude control are demonstrated.
Keywords :
approximation theory; asymptotic stability; attitude control; controllers; eigenvalues and eigenfunctions; nonlinear systems; robots; space vehicles; eigenvalues assignment; global asymptotic stability; linear approximation; nonlinear system; output based controllers; rigid robot; robot set point control; spacecraft attitude control; spacecraft attitude regulation; state based controllers; structural properties; Asymptotic stability; Attitude control; Control systems; Eigenvalues and eigenfunctions; Linear approximation; Nonlinear control systems; Nonlinear systems; Orbital robotics; Robot control; Space vehicles;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1234932
