Model-free Attitude Decoupling Control of Space Robots Based on Time-delay Estimation

被引：0
|
作者：
Zhang X. [1 ,2 ]
Liu J.-G. [1 ,2 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[2] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang
来源：
Yuhang Xuebao/Journal of Astronautics | 2021年 / 42卷 / 09期
关键词：
Composite rigid dynamics modelling approach; Manipulator-base attitude coupling; Model-free decoupling controller; Space robots; Time-delay estimation (TDE);
D O I：
10.3873/j.issn.1000-1328.2021.09.010
中图分类号：
学科分类号：
摘要：
For addressing the manipulator-base attitude coupling issue of space robots, a model-free decoupling approach based on time-delay estimation (TDE) is proposed to achieve the coordination control between the manipulator and the base. Firstly, the dynamics of the system is deduced by the composite rigid dynamics modelling approach. Then, by analyzing the dynamic coupling property, the model-free decoupling control based on TDE is designed from the multi-input multi-output (MIMO) viewpoint to realize the high-precision tracking control of the manipulator and attitude stability control of the base. Finally, comparing the proposed approach with the classical model-based decoupling approach, namely, computed torque control (CTC), by numerical simulation, the results indicate that the TDE control approach is more efficient and has a better decoupling performance. © 2021, Editorial Dept. of JA. All right reserved.
引用
收藏
页码：1150 / 1161
页数：11
相关论文
共 29 条
  • [1] From P J, Gravdahl J T, Pettersen K Y., Vehicle-manipulator systems, (2016)
  • [2] Guo Wen-hao, Wang Tian-shu, Pre-impact configuration optimization for a space robot capturing target satellite, Journal of Astronautics, 36, 4, pp. 390-396, (2015)
  • [3] Wang Ming-ming, Luo Jian-jun, Wang Jia-wen, Et al., Detumbling strategy and impedance control for space robot after capturing an uncooperative satellite, ROBOT, 40, 5, pp. 750-761, (2018)
  • [4] Zhang X, Liu J G, Feng J K, Et al., Effective capture of nongraspable objects for space robots using geometric cage pairs, IEEE/ASME Transactions on Mechatronics, 25, 1, pp. 95-107, (2020)
  • [5] Xu Wen-fu, Zhou Rui-xing, Meng De-shan, A hybrid force/position control method of space robot performing on orbit ORU replacement, Journal of Astronautics, 34, 10, pp. 1353-1361, (2013)
  • [6] Zhang X, Liu J G., Effective motion planning strategy for space robot capturing targets under consideration of the berth position, Acta Astronautica, 148, pp. 403-416, (2018)
  • [7] Xu Wen-fu, Meng De-shan, Xu Chao, Et al., Coordinated control of a free-floating space robot for capturing a target, ROBOT, 35, 5, pp. 559-567, (2013)
  • [8] Xu W F, Li C, Wang X, Et al., Study on non-holonomic cartesian path planning of a free-floating space robotic system, Advanced Robotics, 23, 1-2, pp. 113-143, (2009)
  • [9] Papadopoulos E, Dubowsky S., Dynamic singularities in free-floating space manipulators, Journal of Dynamic Systems Measurement and Control, 115, 1, pp. 44-52, (1993)
  • [10] Torres M A, Dubowsky S., Minimizing spacecraft attitude disturbances in space manipulator systems, Journal of Guidance, Control, and Dynamics, 15, 4, pp. 1010-1017, (1992)
123