Attitude Control of a Space Robot with Initial Angular Momentum Using Time-State Control Form

In this paper, we propose a closed-loop attitude controller for a free-floating space robot with initial angular momentum, and the planar two-link space robot have two revolute joints. We process a kinematic analyse to the robot system and obtain a nonholonomic system with 3-state and 2-input. Then we choose a coordinate transformation, and convert the nonholonomic system into the time-state control form. We also use the exact linearization algorithm of a 1-input state equation to linearize the time-state control form. The attitude controller can be designed conveniently on the basis of the time-state control form. And the numerical simulation is carried out in this paper.