Attitude Control Algorithm for Free-Flying Space Robot (Cooperative Control of Feedforward and Feedback)
Nobuyuki Kobayashi*, Osamu Saito*, Kenzo Nonami**
and Susumu Tohsya*
* lshikawajima-Harima Heavy Industries, Co., Ltd., 3-1-15 Toyosu, Koto-ku, Tokyo, 135 Japan
** Chiba University, 1-33 Yayoi, Inage-ku, Chiba, 260 Japan
An attitude control algorithm for a free-flying robot by the cooperative control of feedforward control and feedback control is proposed. The motion of a manipulator on a space robot causes the attitude deviation of the robot’s main body because of dynamic interaction. The proposed cooperative control algorithm is composed of Disturbed-Torque Compensation control on the thrusters, as feedforward control, and sliding mode control on the reaction wheels, which is a known method of robust control, as feedback control. The proposed algorithm is verified by a one-degree-of-freedom model test. In addition, the robustness is also discussed.
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