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Author(s):
Wang, Mingming; Walter, Ulrich; Luo, Jianjun 
Title:
A Nonlinear Model Predictive Controller for Kinematically Redundant Space Manipulator 
Abstract:
This study investigates the use of nonlinear model predictive control (NMPC) for the approach of a space redundant manipulator to an un-cooperative target satellite in space. The objective is to evaluate the performance of the predictive controller for the approaching task and to investigate the need and feasibility of incorporating constraints into the controller. Firstly, the nonlinear dynamic model of an is linearized and decoupled by feedback. Secondly, a nonlinear model predictive control s...    »
 
Editor:
IAF 
Book / Congress title:
Proceedings of the 64th International Astronautical Congress 
Year:
2013