Considerations on a feedback control system for a space robot reorientation

Shinji Hokamoto, Toshirou Funasako

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


This study deals with feedback control of reorientation of a planar space robot. Mukherjee and Kamon propose to define 'a radially isometric orientation' and successfully establish a smooth time invariant control system. However the proposed controller suffers from slow rate of convergence for a desired configuration being placed on or near a zero-holonomy curve. They also propose two modified controllers for such configurations, but stability problem for the modified controllers remains future work and a criterion for choosing the original or modified controller is not discussed for general configurations. This paper proposes to adopt a 'moving desired configuration' for convergence to any desired configuration. The moving desired configuration is designed to move to a 'real' desired configuration with the system states close to an invariant manifold. The paper describes how to define the invariant manifold and how to move the moving desired point to the real one.

Original languageEnglish
Title of host publicationCollection of Technical Papers - AIAA/AAS Astrodynamics Specialist Conference, 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Number of pages9
ISBN (Print)1563478226, 9781563478222
Publication statusPublished - 2006
EventAIAA/AAS Astrodynamics Specialist Conference, 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA/AAS Astrodynamics Specialist Conference, 2006


OtherAIAA/AAS Astrodynamics Specialist Conference, 2006
Country/TerritoryUnited States
CityKeystone, CO

All Science Journal Classification (ASJC) codes

  • General Engineering


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