A New Nonlinear Near-Optimal Control For Space Robotic Systems
Near optimality; Optimal control; Riccati equation; Space robots; Stability
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.
International Journal of Robotics and Automation
Number of Pages
Source API URL
Qu, Z. and Jin, Y., "A New Nonlinear Near-Optimal Control For Space Robotic Systems" (2003). Scopus Export 2000s. 1475.