TY - GEN
T1 - Dynamic gain scheduled control of a satellite with a robot manipulator
AU - Yang, W
AU - Herrmann, G
AU - Chen, X.
AU - Lowenberg, MH
N1 - Conference Organiser: Harbin Institute of Technology, IEEE, AIAA
PY - 2010/6
Y1 - 2010/6
N2 - Dynamic gain scheduling (DGS) is applied to control the end-effector of a robot manipulator mounted on a satellite. DGS is a novel control approach which exploits the availability of a linearized model at each operating point rather than using a complete nonlinear model. This practical study shows the feasibility of the DGS approach for a satellite system in three different simulated scenarios. In addition to the nominal case, the design of the controller based on uncertain model data is considered. Moreover, dynamic uncertainty for the actuator is introduced. For comparative reasons, a sliding mode controller (SMC) is used showing that the DGS-controller can cope well with both types of uncertainty.
AB - Dynamic gain scheduling (DGS) is applied to control the end-effector of a robot manipulator mounted on a satellite. DGS is a novel control approach which exploits the availability of a linearized model at each operating point rather than using a complete nonlinear model. This practical study shows the feasibility of the DGS approach for a satellite system in three different simulated scenarios. In addition to the nominal case, the design of the controller based on uncertain model data is considered. Moreover, dynamic uncertainty for the actuator is introduced. For comparative reasons, a sliding mode controller (SMC) is used showing that the DGS-controller can cope well with both types of uncertainty.
U2 - 10.1109/ISSCAA.2010.5633473
DO - 10.1109/ISSCAA.2010.5633473
M3 - Conference contribution
BT - 2010 3rd International Symposium on Systems and Control in Aeronautics and Astronautics
ER -