Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control. (Q1874244)

This paper study some issues associated with the form of the response of a rigid robot under the action of a PD controller. Using the results establish by J. T. Wen and D. S. Bayard, they include here a cross term of the position and the velocity vectors in a relevant Lyapunov candidate function that allows them to present an explicit formula which reflects the effects controller gains of the form of system response. Also, in the case of model uncertainty using the approach presented in this paper, allow us to select the desired controller parameters and to evaluate the form of the system response and the rate of convergence to the set point. Some applications of the approach to spacecraft attitude control have been considered. For the presented cases, some simulation results are given.