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

Socpus ID

0346503118 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0346503118

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