@inproceedings{oai:jaxa.repo.nii.ac.jp:00007610,
 author = {橋本, 智昭 and 藤井, 裕矩 and Hashimoto, Tomoaki and Fujii, Hironori},
 book = {第15回アストロダイナミクスシンポジウム講演後刷り集　2005, Proceedings of 15th Workshop on JAXA Astrodynamics and Flight Mechanics},
 month = {Mar},
 note = {非ホロノミックな拘束を有するシステムに対する制御則は数多く提案されており、その中の1つとしてバックステッピング法が挙げられる。本論文では、宇宙ロボットの姿勢とジョイント角度を同時にかつ独立に制御する手法をバックステッピング法を用いて提案する。バックステッピング法における安定性解析はリアプノフ関数に基づいているので、制御器のロバスト性を考察しやすい利点がある。数値計算により提案する制御則の有効性を確認する。, Several control methods for the nonholonomic systems have been proposed over the past years. Backstepping is one of the control methods for nonlinear systems, and is expected to be applicable to the wide class of nonlinear systems. In this paper, a feedback controller that can stabilize simultaneously and independently the space robot attitude and the arm joint angles is proposed by using Backstepping approach. Since the stability analysis of Backstepping method is based on Lyapunov functions, it is easy to develop the nominal stabilizing controller into the robust stabilizing controller by modifying the feedback gains. Numerical simulations of the closed loop system with the original controller and modified controller are carried out in order to verify the effectiveness of the feedback controllers., 資料番号: AA0063480045},
 pages = {282--289},
 publisher = {宇宙航空研究開発機構宇宙科学研究本部, Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)},
 title = {Attitude control of space robot using Backstepping},
 year = {2006}
}