Journal ArticleDOI
Finite-Time Trajectory Tracking Control of Space Manipulator Under Actuator Saturation
Shiyuan Jia,Jinjun Shan +1 more
TLDR
This paper proposes a finite-time trajectory tracking controller for a space manipulator under model uncertainty, external disturbance, and actuator saturation, and a NN-based adaptive terminal sliding mode controller for trajectory tracking.Abstract:
This paper proposes a finite-time trajectory tracking controller for a space manipulator under model uncertainty, external disturbance, and actuator saturation. The dynamics of space manipulator is derived using Kane's method. Considering the model uncertainty that may exist when the manipulator captures an unknown payload, a radial basis function neural network (NN) is used to estimate the uncertain model of the space manipulator. An auxiliary system is designed to compensate the actuator saturation. Then a NN-based adaptive terminal sliding mode controller is proposed for trajectory tracking of a space manipulator. The stability of the proposed controller is analyzed using Lyapunov theory. Numerical simulations are conducted to verify the effectiveness of the proposed controller.read more
Citations
More filters
Journal ArticleDOI
Terminal Sliding Mode Control – An Overview
Xinghuo Yu,Yong Feng,Zhihong Man +2 more
TL;DR: An overview of the state of the art of the terminal sliding mode control (TSMC) theory and its applications can be found in this paper, where key technical issues and future challenges are discussed.
Journal ArticleDOI
New Adaptive Control Methods for $n$ -Link Robot Manipulators With Online Gravity Compensation: Design and Experiments
TL;DR: For robot manipulators subject to unmeasurable/uncertain plant parameters, this paper designs a new adaptive motion controller, which ensures positioning errors to converge to zero and provides accurate gravity compensation.
Journal ArticleDOI
Adaptive neural backstepping control for flexible-joint robot manipulator with bounded torque inputs
TL;DR: Comparisons indicate that the proposed controller results in a more satisfactory tracking performance with keeping the control inputs bounded within the given range all the time and superior anti-disturbance capability.
Journal ArticleDOI
Continuous integral sliding mode control for space manipulator with actuator uncertainties
Shiyuan Jia,Jinjun Shan +1 more
TL;DR: A novel continuous adaptive integral sliding mode controller, which is chattering free and singularity free compared to the traditional terminal sliding mode control, is proposed to achieve the finite-time trajectory tracking control for space manipulator with uncertainties.
Journal ArticleDOI
Nonsingular terminal sliding mode control for free-floating space manipulator with disturbance
TL;DR: The proposed nonsingular terminal sliding mode controller for free-floating space manipulators (FFSMs) to improve the transient performance and reduce unexpected base motion in the presence of disturbance has significant advantages in disturbance rejection, reducing overshoot, and shortening settling time.
References
More filters
Journal ArticleDOI
Collective Motion
Tamás Vicsek,Anna Zafeiris +1 more
TL;DR: In this paper, the basic laws describing the essential aspects of collective motion are reviewed and a discussion of the various facets of this highly multidisciplinary field, including experiments, mathematical methods and models for simulations, are provided.
Journal ArticleDOI
Continuous finite-time control for robotic manipulators with terminal sliding modes
TL;DR: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes using the Lyapunov stability theory, and theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained.
Journal ArticleDOI
Brief Non-singular terminal sliding mode control of rigid manipulators
Yong Feng,Xinghuo Yu,Zhihong Man +2 more
TL;DR: This paper presents a global non-singular terminal sliding mode controller for rigid manipulators to enable the elimination of the singularity problem associated with conventional terminal slide mode control.
Journal ArticleDOI
Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation
Wei He,Yiting Dong,Changyin Sun +2 more
TL;DR: In this article, an adaptive impedance controller for a robotic manipulator with input saturation was developed by employing neural networks. But the adaptive impedance control was not considered in the tracking control design, and the input saturation is handled by designing an auxiliary system.
Related Papers (5)
Adaptive Sliding Mode Disturbance Observer-Based Composite Control With Prescribed Performance of Space Manipulators for Target Capturing
Yukai Zhu,Jianzhong Qiao,Lei Guo +2 more
Brief Non-singular terminal sliding mode control of rigid manipulators
Yong Feng,Xinghuo Yu,Zhihong Man +2 more