Dynamic gain scheduled control of a satellite with a robot manipulator

W Yang, G Herrmann, X. Chen, MH Lowenberg

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

Abstract

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.
Translated title of the contributionDynamic gain scheduled control of a satellite with a robot manipulator
Original languageEnglish
Title of host publication3rd International Symposium on Systems and Control in Aeronautics and Astronautics (ISSCAA 2010), Harbin, China
Pages1151 - 1156
Number of pages6
DOIs
Publication statusPublished - Jun 2010

Bibliographical note

Conference Organiser: Harbin Institute of Technology, IEEE, AIAA

Fingerprint Dive into the research topics of 'Dynamic gain scheduled control of a satellite with a robot manipulator'. Together they form a unique fingerprint.

Cite this