State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload

Abstract

Abstract:In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator's load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. The integrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector, joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependent Riccati equation (SDRE) is established and solved by Taylor series approximation method. The motion planning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulator and the results are discussed to illustrate the effectiveness of the proposed approach.

Dynamics and control of a flexible rotating clamped-free beam by SDRE strategy

“…This last result is important because these eigenfunctions will be used in the assumed modes method, which is exactly what is done in the next section. Next, the SDRE control technique is presented (Jia et al, 2015;de Lima et al, 2016), applied to the system, and results of numerical simulations are exhibited. The final section presents a conclusion of this work.…”