Control strategy of optimal deployment for spacecraft solar array system with initial state uncertainty

Ge, Xinsheng; Chen, Liqun; Yao, Qijia

doi:10.1007/s10483-018-2378-8

Cited by 5 publications

(1 citation statement)

References 33 publications

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“…With an appropriate initial guess to start the solving procedure, the indirect method can rapidly converge to an accurate solution. This property makes this approach attractive in various fields such as torque control of Permanent Magnet Synchronous Motors (PMSMs) (Wang et al, 2019), motion control of spacecraft (Feng et al, 2019; Ge et al, 2018), speed optimization (Abbas et al, 2019) and energy management of electrical vehicles (Kim et al, 2019; Nguyen et al, 2019; Sohn et al, 2019), hybrid bus (Xie et al, 2019). It has also been used in hydrocarbon emission control of automotive engine (Azad, 2015), optimal boundary control of the manufacturing systems (Sun and Wu, 2019), and non-linear parabolic system consisting of a heat equation (Sun and Wu, 2017).…”

Section: Introductionmentioning

confidence: 99%

A variational approach to determination of maximum throw-able workspace of robotic manipulators in optimal ball pitching motion

Asgari

Nikoobin

2021

Transactions of the Institute of Measurement and Control

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This study is aimed at finding the entire points that a manipulator can launch an object onto by an optimal motion. These points are called throw-able workspace, which are located outside the reachable workspace of the robot. From an optimization point of view, some throwing parameters can be found to decrease motion cost. In this paper, by using this concept, the best combination of throwing and trajectory planning is attempted. The proposed method consists of two basic ideas: first, defining the optimal throwing problem as the optimal control problem (OCP) and solving it using the indirect solution approach based on the fundamental lemma of calculus of variations. To achieve the best release angle and speed, the throwing equation of motion is applied as a moving-end boundary condition (BC). Second, based on the obtained optimal throwing, an algorithm is presented to calculate the maximum throw-able workspace. The simulation results demonstrate the effectiveness of the proposed framework for both single link and spatial two-degree-of-freedom throwing robots.

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