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首页> 外文期刊>Acta astronautica >A near-optimal control approach to 3D ball-in-socket joint space robot models with initial angular momenta
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A near-optimal control approach to 3D ball-in-socket joint space robot models with initial angular momenta

机译：具有初始角动量的3D球窝关节空间机器人模型的近似最优控制方法

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摘要

Control of space robots in the 3D space is known as one of the difficult problems in nonlinear control theory, and if there exist initial angular momenta for space robots, the control problem becomes an increasing challenge. However, it is quite important to take into account the existence of initial angular momenta from the aspect of realistic situations. This paper deals with a control problem for a 3D space robot of two rigid bodies with an initial angular momentum. First, we give a model of a space robot with an initial angular momentum, called the ball-in-socket joint model. We next propose a near-optimal control method for general nonlinear affine control systems based on the finite dimensional orthonormal basis and give some theoretical analysis for the method. Moreover, a near-optimal control algorithm is also shown. Then, we apply the near-optimal control algorithm to a 3D attitude control problem of the ball-in-socket joint model with an initial angular momentum, and illustrate numerical simulations in order to show the effectiveness of our method.
机译：3D空间中空间机器人的控制是非线性控制理论中的难题之一，如果空间机器人存在初始角动量，则控制问题将成为日益严峻的挑战。然而，从现实情况的角度考虑初始角动量的存在是非常重要的。本文研究了具有两个初始角动量的两个刚体的3D空间机器人的控制问题。首先，我们给出一个具有初始角动量的太空机器人模型，称为球窝关节模型。接下来，我们基于有限维正交标准，提出了一种通用非线性仿射控制系统的近最优控制方法，并对该方法进行了理论分析。此外，还示出了接近最优的控制算法。然后，我们将近似最优控制算法应用于具有初始角动量的球窝关节模型的3D姿态控制问题，并举例说明了数值模拟，以证明该方法的有效性。

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