Attitude control of the space robot with two arms of single degree of freedom

This paper deals with an attitude control of the space robot having two arms. These arms are located at both ends of the base, and they are perpendicular to each other, As there are no external torques, the inputs only act as internal torques generated by joint motors. By exploiting the non-integrability of the conservation law of angular momentum, the system can be expressed as a 5-state 2-input nonholonomic system that is controllable with second order of two generators. Based on time-state control form, the system can be transformed into two time-state control form subsystems. We propose a control strategy to switching each subsystem, The transformed subsystems are time-varying, the convergence in the neighborhood of the origin is assured based on quadratic stability by LMI.