Journal Article•
The robust control scheme for free-floating space manipulator to track the desired trajectory in jointspace
01 Jan 2001-Acta Mechanica Solida Sinica (Huazhong University of Science and Technology)-Vol. 14, Iss: 2, pp 183-188
TL;DR: The robust control scheme for free-floating space manipulator with uncertain payload parameters to track the desired trajectory in jointspace is proposed, and the global convergence of the tracking is verified by using the Laypunov method.
About: This article is published in Acta Mechanica Solida Sinica.The article was published on 2001-01-01 and is currently open access. It has received 8 citations till now. The article focuses on the topics: Parallel manipulator & Robust control.
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TL;DR: In this paper, a terminal sliding mode control (SMC) scheme was proposed for coordinated motion between the base's attitude and the end-effector of the free-floating space manipulator with external disturbance.
Abstract: The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base’s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.
24 citations
TL;DR: By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established and an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints.
Abstract: Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.
17 citations
25 Jun 2008
TL;DR: In this paper, the adaptive neural network control scheme of coordinated motion between the basepsilas attitude and the armspsila joints of free-floating dual-arm space robot system with uncertain parameters is considered.
Abstract: In this paper, the adaptive neural network control scheme of coordinated motion between the basepsilas attitude and the armspsila joints of free-floating dual-arm space robot system with uncertain parameters is considered. The controller is developed based on the neural network modeling technique. It need neither linearly parameterize the dynamic equations of system, nor know any actual inertial parameters. In addition, it neither requires the evaluation of inverse dynamical model, nor the time-consuming training process. Furthermore, the robust control can be easily incorporated to suppress the neural network modeling errors. Simulation results based on a planar free-floating dual-arm space robot system verify the feasibility of the proposed adaptive neural network control scheme.
12 citations
Cites background from "The robust control scheme for free-..."
...I. INTRODUCTION Space robot will play a significant role in the future missions such as the construction, repair and maintenance of satellites and space stations....
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10 Oct 2009
TL;DR: A robust adaptive composite control scheme for space-based robot to track the desired trajectories in inertial space is developed and the stability of the overall system is analyzed through Lyapunov direct method.
Abstract: In this paper, the control problem of space robot system with uncertain parameters and external disturbances is discussed. With the momentum conservation of the system, the kinematics and dynamics of the system are analyzed, and it is found that the generalized Jacobi matrix and the dynamic equations of the system are nonlinearly dependent on inertial parameters. In order to overcome the problems mentioned above, the idea of augmentation approach is introduced. It is shown that the augmented generalized Jacobi matrix and the dynamic equations of the system can be linearly dependent on a group of inertial parameters with augmented inputs and outputs. Based on the results, a robust adaptive composite control scheme for space-based robot to track the desired trajectories in inertial space is developed. The stability of the overall system is analyzed through Lyapunov direct method. For the proposed approach, the global uniform asymptotic stability of the system is established. In addition, the controller presented possesses the advantage that it needs no measurement of the position, linear velocity and acceleration of the base with respect to the orbit, because of the effective exploitation of the particular property of system dynamics. To show the feasibility of control scheme, a planar space robot system is simulated.
9 citations
18 Jul 2012
TL;DR: In this article, a novel type of control scheme combined the nonlinear disturbance observer based control (NDOBC) with terminal sliding mode control is proposed for a military robot system.
Abstract: A novel type of control scheme combined the nonlinear disturbance observer based control (NDOBC) with terminal sliding mode control is proposed for a military robot system. The terminal sliding mode controller is designed for the robot system by adopting a non-singular terminal sliding mode manifold. This controller can make the states not only reach the manifold in finite time, but also obtain a faster convergence and a better tracking precision. Meanwhile, design the nonlinear disturbance observer to observe the uncertainties and disturbance of the system. The chattering of sliding mode control is reduced. The proposed controller can guarantee stabilization of the tracing system. Simulation results show that the controller is valid.
5 citations
Cites background from "The robust control scheme for free-..."
...During the control process on robot system, the presence of disturbances, model uncertainties, and nonlinear model parts is inevitable [1][2]....
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