平面2リンク宇宙ロボットに対する適応不変マニフォールドペースト切替制御（第2報）：実験検証

摘要

Controlling of a space robot without actuators on the main body is an underactuated control problem. As stabilization methods, various methods such as time-varying feedback controllers, discontinuous feedback controllers, center manifold based methods, zero-dynamics methods, and sliding mode controllers have been proposed. However, in these methods, modeling errors and delay time have not been sufficiently considered. In order to obtain faster convergence time and compensate modeling errors and delay time, the adaptive invariant manifold based switching control method has been proposed. In this paper, experiments are carried out to validate the proposed method using the experimental setup of a planar two-link space robot. The experimental results show that the proposed method was capable of stabilizing the state variables to the goal one even if there exist the delay time and modeling error in the system.%平面2リンク宇宙ロボットは非ホロノミックシステムでrnあり，システムはBrockettの定理より，制御可能であっrnても安定化させられるなめらかで時不変な制御手法は存在rnしない．このシステムの姿勢変更の問題に対し，さまざまrnな制御手法が提案されている．しかし，これら過去のrn研究では，実モデルに含まれるであろうモデル化誤差や遅rnれ時間はほとんど考慮されていなかった．