Optimal Guidance and Control for Space Robot Operation
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This paper deals with a control of space robot for capturing moving targets. It would be desirable to use the space robot to repair the failed satellite and to remove space debris since the work load to do these tasks by astronauts will be extremely heavy. Extensive studies have been done for the control of space robot. Unfortunately these studies have not incorporated the orbital motion which is essential for space robot. Coplanar motion between space robot and target is discussed in this study. Suboptimal control, which uses piecewise optimized feedback gain by optimal tracking control method, is applied to chase the target. Also Hill’s equation was applied to the relative orbital equations of motions. Based on the above formulation dynamical simulation was conducted to demonstrate the validity of our approach.
KeywordsHill’s equation Motion control Optimal control Space robot
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