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首页> 外文期刊>Nonlinear analysis. Real world applications >Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control
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Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control

机译：刚性机器人收敛到设定点的速率的估计和调节，并应用于航天器姿态控制

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This study presents an explicit upper bound to the norm of the solution of the equation of motion of an n-degree of freedom rigid robot while it is under the action of a PD controller. The resulting upper bound is an exponential function that reflects the effect of the controller gains on the form of the system response. The relevant procedure is applicable also in the case of model uncertainty. A tuning-rule for setting the controller gains and adjusting the system rate of convergence towards the desired operating point has been established. As shown, the effect of the tuning-rule on the resulting upper bound is similar to the one obtained in the case of an appropriate second-order linear system. The applications of the results obtained for a rigid robot model are considered in the framework of the spacecraft attitude control problem. In particular, the present approach might be useful for estimating the rate of convergence and evaluating the region of attraction with respect to a required attitude set-point in the domain of validity of the selected transformation associated with the kinematic representation. (C) 2003 Elsevier Science Ltd. All rights reserved. [References: 16]
机译：这项研究为n自由度刚性机器人在PD控制器作用下的运动方程解的范数提出了一个明确的上限。所得的上限是一个指数函数，反映了控制器增益对系统响应形式的影响。相关的程序也适用于模型不确定性的情况。已经建立了用于设置控制器增益并朝着期望的工作点调整系统收敛速率的调整规则。如图所示，调整规则对所得上限的影响与在适当的二阶线性系统的情况下获得的影响相似。在航天器姿态控制问题的框架内考虑了为刚性机器人模型获得的结果的应用。特别地，在与运动学表示相关联的所选变换的有效性的范围内，本方法对于估计收敛速度和相对于所需姿态设定点评估吸引力区域可能是有用的。 （C）2003 Elsevier ScienceLtd。保留所有权利。 [参考：16]

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