Summary
International Symposium on Nonlinear Theory and its Applications
2010
Session Number:B3L-D
Session:
Number:B3L-D2
Attitude Stabilization Control of 3D Space Robot Model with Initial Angular Momentum via Model Predictive Control
Tatsuya KAI, Katsunori KONDOH,
pp.438-441
Publication Date:2010/9/5
Online ISSN:2188-5079
Summary:
This study considers attitude 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 model error of initial angular momentum is performed in order to check robustness of model predictive control.