Time Optimal Tracking Control Approach for Suspended Gravity Compensation System

Author

Yao, Yansheng ; Mei, Tao ; Sun, Lei ; Zhang, Tao

Author_Institution

Inst. of Intelligent Machines, Chinese Acad. of Sci., Hefei

Volume

2

fYear

0

fDate

0-0 0

Firstpage

6493

Lastpage

6497

Abstract

A suspension system for studying the dynamic characteristics of space robots working under microgravity condition is introduced. The system can apply a constant force against the gravity of an operating target. The support point on system\´s end-effector synchronously tracking the motion of suspension object is expected to obtain long-time zero-gravity of the target satellite. According to dynamic model of suspension module, a "bang-bang" time-optimal programming which is a human simulated conception, and a precision tracking approach through coarse and precise periods is proposed. The control result is presented and verified by using numerical computation and simulation

Keywords

aerospace robotics; aerospace simulation; compensation; end effectors; mathematical programming; motion control; time optimal control; tracking; bang-bang time-optimal programming; human-simulated intelligent control; microgravity; precision tracking; space robots; suspended gravity compensation system; suspension system; time optimization; tracking control; Computational modeling; Control systems; Dynamic programming; Gravity; Humans; Numerical simulation; Optimal control; Orbital robotics; Satellites; Target tracking; dynamics; human-simulated intelligent control; simulation; suspension system; time optimization; tracking control approach;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1714336

Filename

1714336