Nonlinear Control of a Space Robot with Slosh Dynamics in Two Dimension

Abstract

Slosh dynamics could make some harmful changes in attitude paramters of space robots in orbital maneuvering. So, its necessary to control this harmful phenomenon. This paper presents a mathematical modeling and nonlinear control of sloshing and attitude coupled dynamics of a space robot in two dimension. Fuzzy and Lyapunov controllers are utilized for attitude stabilizng of the space robot. Effectiveness of this modeling and controllers are illustrated by the simulation results.