Fully Actuated System Approach to Attitude Stabilization Control of Robot Manipulator

In this paper, a high-order fully actuated (HOFA) system approach is proposed for the attitude stabilization problem of robotic manipulators. Different from most existing results, the proposed method guarantees a linear time-invariant closed-loop system with arbitrarily assignable eigenvalues. Firstly, the HOFA model for the attitude system is derived from the original dynamic equations. Then, by using the fully actuated characteristics of the obtained HOFA system, the nonlinearity in the system is completely canceled and a linear time-invariant system with arbitrarily assignable eigenvalues is derived. Finally, the control law is designed for the problem of attitude stabilization, and simulations are carried out based on practical engineering parameters, which demonstrate the effects of the proposed method.