THE ROBUST CONTROL SCHEME FOR FREE-FLOATING SPACE MANIPULATOR TO TRACK THE DESIRED TRAJECTORY IN JOINTSPACE

被引：0
|
作者：
Chen Li (Department of Mechanical Engineering
机构：
来源：
ActaMechanicaSolidaSinica | 2001年 / 02期
基金：
中国国家自然科学基金;
关键词：
free-floating space manipulator; augmentation approach; robust control;
D O I：
暂无
中图分类号：
TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ;
摘要：
The control of a free-floating space manipulator system is discussed.With the augmentationapproach,the nonlinear parameterization problem of the dynamic equations of the space manipulator systemis overcome.Based on the results,the robust control scheme for free-floating space manipulator with uncer-tain payload parameters to track the desired trajectory in jointspace is proposed,and the global convergenceof the tracking is verified by using the Lyapunov method.The prolapsed control scheme is computationallysimple,because we choose to make the controller robust to the uncertain inertial parameters rather than ex-plicitly estimate them online.In particular,it needn’t control the position and attitude of the floating base.Atwo-link planar space manipulator system is simulated to verify the control scheme proposed.
引用
收藏
页码：183 / 188
页数：6
相关论文
共 50 条
  • [31] The obstacle vector field (OVF) method for collision-free trajectory planning of free-floating space manipulator
    Rybus, Tomasz
    BULLETIN OF THE POLISH ACADEMY OF SCIENCES-TECHNICAL SCIENCES, 2022, 70 (02)
  • [32] Modeling and trajectory tracking control of a free-floating space robot with flexible manipulators
    Hong, Zai-Di
    Yun, Chao
    Chen, Li
    Jiqiren/Robot, 2007, 29 (01): : 92 - 96
  • [33] Optimal adaptive tracking control of effector trajectory for free-floating space robot
    Yang F.
    Zhang G.-L.
    Tian Q.
    Wang X.-J.
    Kongzhi yu Juece/Control and Decision, 2018, 33 (09): : 1699 - 1707
  • [34] HYBRID CONTROL SCHEME OF COORDINATED MOTION AND ACTIVE VIBRATION SUPPRESSION FOR FREE-FLOATING SPACE FLEXIBLE MANIPULATOR WITH PARAMETER UNCERTAINTY
    Hong Zhaobin
    Chen Li
    PROCEEDINGS OF ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 4, PTS A-C, 2010, : 3 - 9
  • [35] Dynamic Characteristics of Free-floating Space Manipulator with Joint Clearance
    Gu Y.
    Zhang Y.
    Zhao J.
    Yan S.
    Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2019, 55 (03): : 99 - 108
  • [36] Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC)
    Tomasz Rybus
    Karol Seweryn
    Jurek Z. Sasiadek
    Journal of Intelligent & Robotic Systems, 2017, 85 : 491 - 509
  • [37] Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC)
    Rybus, Tomasz
    Seweryn, Karol
    Sasiadek, Jurek Z.
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2017, 85 (3-4) : 491 - 509
  • [38] Robust backstepping control based on state observer and elastic vibration suppressing of free-floating space manipulator with flexible joints
    Xie, Limin
    Chen, Li
    Jiqiren/Robot, 2012, 34 (06): : 722 - 729
  • [39] Fuzzy Adaptive Disturbance-Observer-Based Robust Tracking Control of Electrically Driven Free-Floating Space Manipulator
    Chu, ZhongYi
    Cui, Jing
    Sun, FuChun
    IEEE SYSTEMS JOURNAL, 2014, 8 (02): : 343 - 352
  • [40] Fuzzy variable structure sliding-mode control for space manipulator to track desired trajectory in joint space
    Liang Jie
    Chen Li
    PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 4, 2007, : 299 - +
12345