[JRSJ Vol.16, No.6, pp.90-97]
A hardware satellite model with thrusters and a control moment gyro (CMG) is constructed to discuss position/attitude control methods for a ground testbed simulating a space robot. A bang-bang position control and two attitude control methods, i.e., a Lyapunov-type controller and an exact-linearization-based controller, are designed. Hardware experiments as well as numerical simulations show the feasibility of the modeling and the controllers. It is also shown that the developed position/attitude control system has enough performance for the ground testbed.
Key Words: Position/Attitude Control, Space Robot, Control Moment Gyro, Thrusters, Hardware Experiment
[JRSJ Vol.16, No.6, pp.90-97]