Dynamic gain scheduled control of a satellite with a robot manipulator

Abstract

Dynamic gain scheduling (DGS) is applied to control the end-effector of a robot manipulator mounted on a satellite. DGS is a novel control approach which exploits the availability of a linearized model at each operating point rather than using a complete nonlinear model. This practical study shows the feasibility of the DGS approach for a satellite system in three different simulated scenarios. In addition to the nominal case, the design of the controller based on uncertain model data is considered. Moreover, dynamic uncertainty for the actuator is introduced. For comparative reasons, a sliding mode controller (SMC) is used showing that the DGS-controller can cope well with both types of uncertainty.