Optimal Guidance and Control for Space Robot Operation

  • Takuro KobayashiEmail author
  • Shinichi Tsuda
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 70)


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.


Hill’s equation Motion control Optimal control Space robot 


  1. 1.
    Kobayasi, T., Tsuda, S.: Control of space robot for moving target capturing. In: Lecture Notes in Engineering and Computer Science: Proceedings of the International MultiConference of Engineers and Computer Scientists 2010, IMECS2010, Hong Kong, 17–19 March 2010, pp. 946–950 (2010) Google Scholar
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    Umetani, Y., Yoshida, K.: Resolved motion rate control of space robotic manipulators with generalized Jacobian matrix. JRSJ 7(4), 327–337 (1989) CrossRefGoogle Scholar
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    Uchida, H., Nonami, K.: Robust control system design for optimal tracking servo-system with trajectory following. SICE 32(8), 1175–1182 (1996) Google Scholar

Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  1. 1.The corse of Aerospace, School of EngineeringTokai UniversityKanagawaJapan
  2. 2.Department of Aeronautics and Astronautics, School of EngineeringTokai UniversityKanagawaJapan

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