State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload
Qingxuan Jia, Yong Liu*, Gang Chen, Hanxu Sun
Identifiers and Pagination:Year: 2015
First Page: 851
Last Page: 858
Publisher Id: TOMEJ-9-851
Article History:Received Date: 17/02/2014
Revision Received Date: 21/03/2015
Acceptance Date: 09/06/2015
Electronic publication date: 7/10/2015
Collection year: 2015
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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.