Title
A New Nonlinear Near-Optimal Control For Space Robotic Systems
Keywords
Near optimality; Optimal control; Riccati equation; Space robots; Stability
Abstract
The robotic system considered in this article consists of an n-DOF robotic manipulator mounted onto an altitude-controlled base (which is either a space shuttle or a space station). To minimize control energy of thrust in maintaining the altitude of the base, nonlinear optimal control problem of robotic manipulator is formulated. Nonlinear optimal controls are outlined, based on which a new nonlinear near-optimal control is proposed for space robotic systems. Compared to an optimal control, which must be solved offline and stored numerically, the proposed control scheme can easily be implemented real time, and its closeness to the optimal control can be measured. Stability results under the proposed suboptimal control are obtained, and a simulation example is included to demonstrate its effectiveness.
Publication Date
12-1-2003
Publication Title
International Journal of Robotics and Automation
Volume
18
Issue
4
Number of Pages
175-184
Document Type
Article
Personal Identifier
scopus
Copyright Status
Unknown
Socpus ID
0346503118 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0346503118
STARS Citation
Qu, Z. and Jin, Y., "A New Nonlinear Near-Optimal Control For Space Robotic Systems" (2003). Scopus Export 2000s. 1475.
https://stars.library.ucf.edu/scopus2000/1475