Adaptability of decentralized kinematic control algorithm to reactive motion under microgravity

摘要

One of the most important functions of decentralized autonomous systems is to carry out various tasks using systems with very low-performance processors. When we design a decentralized control system, it is important to consider how we can estimate low-performance as the performance of processors in achieving a task. In this paper, the effect of calculation cycle is assessed by computer simulation in the adaptability to the reactive motion under the microgravity. Based on effect of calculation cycles on adaptability for reactive motion, the magnitude of the reactive motion can be divided into three conditions: "difficult", "moderate", and "easy". The effect of the calculation cycle is significant only in the "moderate" condition, and in the "difficult" condition and the "easy" condition the adaptability is not affected by calculation cycle. The most feasible calculation cycle throughout all conditions can be concluded as 20 Hz.