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

Volume

3

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

1132

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1234932

Filename

1234932