A Fuzzy Logic Reinforcement Learning Control with Spring-Damper Device for Space Robot Capturing Satellite

An, Zhijie; Ai, Haiping; Chen, Li

doi:10.3390/app12052662

Cited by 12 publications

(8 citation statements)

References 34 publications

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“…x y z r (1) The rotation error is represented by the Cardan angle: if the payload rotation error is α β γ Δ Δ Δ 、、 , then the actual payload connected coordinate system O1 becomes coordinate system O2 after rotation around axis X1, coordinate system O2 becomes coordinate system O3 after rotation around axis Y2, and coordinate system O3 becomes coordinate system O4 after rotation around axis Z3. When the pose error e is α β γ Δ Δ Δ Δ Δ Δ , , , , , [ ] x y z , the coordinate system O4 is the actual payload connected coordinate system.…”

Section: Positioning and Layout Design Of The Capture And Lock Systemmentioning

confidence: 99%

“…The capture process of this scheme is as follows: When the device to be captured enters the ideal capture position with the assistance of the manipulator, the capture hook 5 starts to move. The capture hook vertex Q passes through the capture area of the capture frame (1). As the capture hook vertex moves along the capture trajectory (2), the hook captures the capture frame, and the positioning shaft (3) in the capture frame enters the V-shaped groove (4) to complete capture and positioning.…”

Section: Planning the Capture Trajectory Of The Active End And The Co...mentioning

confidence: 99%

“…Zhu et al [1] added a spring damping device between the joint motor and the manipulator to prevent the joint from being damaged by an impact force when the space robot captures a satellite. The device can limit the impact force through a reasonable design compliance control strategy within safe limits.…”

Section: Introductionmentioning

confidence: 99%

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Layout Design and Verification of a Space Payload Distributed Capture and Lock System

et al. 2022

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In this paper, the mechanism scheme and parametric design of a capture and lock system are studied based on the high reliability of locking systems. By analyzing the workflow and boundary conditions of the capture and lock system, a positioning design is carried out by combining it with the layout of a distributed capture and lock system. Based on the error domain for the passive end in the presence of errors in the manipulator, planning for the capture trajectory and configuration of the design for the active end are carried out. The influence of the passive end on the dynamic performance of the system is comprehensively considered to design the configuration of the passive end. According to the structure of the active end, a mathematical model for the capture and lock mechanism is established, and an analysis of the influence of trajectory parameters on the active end is carried out. The layout design of the capture hook for the active end is carried out based on an analysis of the influence of its layout on posture adjustment. The large-tolerance capability of the system layout is verified with a tolerance simulation analysis and a ground simulation capture test.

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Section: Positioning and Layout Design Of The Capture And Lock Systemmentioning

confidence: 99%

Section: Planning the Capture Trajectory Of The Active End And The Co...mentioning

confidence: 99%

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Layout Design and Verification of a Space Payload Distributed Capture and Lock System

et al. 2022

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“…In [14], according to the characteristics of the actual reaction of the continuous stirred tank reactor, the T-S fuzzy model is used to study the problem of fault detection. In addition, the fuzzy controller is also used in the medical field, such as the fuzzy control-based energy aware routing protocol (EARP) applied in wireless body area networks (WBANs) [15] and combined with sliding mode control applied in gyroscope control systems [16,17]. In the study of DHTC, Qin et al used T1FLC to construct the T1FLC-DHTC structure, which realized automatic switching of system types [18], but the control parameters of T1FLC completely relied on artificial settings, and in the real unstructured dynamic environment and many specific applications, the traditional T1FLC will face many uncertainties, mainly including measurement noise, friction, and rule base differences, etc.…”

Section: Introductionmentioning

confidence: 99%

Dynamic High-Type Interval Type-2 Fuzzy Logic Control for Photoelectric Tracking System

Qin

Zhang²,

Zhao³

et al. 2022

Processes

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This paper proposes a dynamic high-type control (DHTC) method based on an interval type-2 fuzzy logic controller (IT2FLC), which is used in the photoelectric tracking system to improve the steady-state accuracy and response speed. Adding integrators to the traditional multi-loop feedback control loop can increase the system type, thereby speeding up the response speed and improving the steady-state accuracy, but there is a risk of integral saturation. Switching the type dynamically according to the system state can avoid integral saturation while retaining the advantages of the high-type. Fuzzy logic control (FLC) can dynamically change the output value according to the input change and has the advantages of fast response speed and strong ability to handle uncertainties. Therefore, in this paper, the FLC is introduced into the high-type control system, and the output of the FLC is used as the gain of the integrator to control the on-off to achieve the goal of dynamic switching type, which is successfully verified in the experiment. IT2FLC introduces a three-dimensional membership function, which further improves the FLC’s ability to handle uncertainties. From the experimental results, compared with T1FLC, IT2FLC’s ability to handle uncertainties is significantly improved. In addition, in order to speed up the calculation speed of IT2FLC, this paper proposes an improved type-reduction algorithm, which is called weighted-trapezoidal Nie-Tan (WTNT). Compared with the traditional type-reduction algorithm, WTNT has faster calculation speed and better steady-state accuracy, and has been successfully applied to real-time control systems, which has good engineering application value. Finally, in order to reduce the interference of human factors and improve the automation level of the system, a multi-population genetic algorithm (MPGA) is used to iteratively optimize the parameters of the FLC, which improves the output accuracy. On the experimental platform of the flexible fast steering mirror (FFSM), the control effects of the traditional controller, T1FLC and IT2FLC are compared, which proves that the IT2FLC-DHTC system has a faster response performance, higher steady-state accuracy, and stronger ability to handle uncertainties.

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“…In the past decades, space robots have been playing an important role in space contact tasks, such as on-orbit construction and assembly, target capture and asteroid sampling [1][2][3]. During the contact process, there are two major problems, namely, the maximum contact force and the base attitude disturbance caused by contact, that need to be focused on.…”

Section: Introductionmentioning

confidence: 99%

Risk Assessment Model-Guided Configuration Optimization for Free-Floating Space Robot Performing Contact Task

Zhang

Wang

2022

Machines

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The use of free-floating space robots for contact tasks is very promising in space exploration. However, severe damage or obvious disturbance may occur if inappropriate operation is implemented. In this paper, a novel risk assessment method is first proposed to give a clear description of the risk state before contact happens and provide guidance for configuration optimization to reduce risk on contact tasks. Firstly, the dynamics model of a free-floating space robot is given. On this basis, two important risk assessment indicators, the maximum contact force and the base attitude disturbance caused by contact, are derived. By integrating the risk assessment indicators, a novel risk assessment model is proposed for a free-floating space robot performing a contact task. It is a multidimensional and extensible risk assessment space which could give a clear description of the risk state before contact happens. Thereafter, considering the results given by the risk assessment model, the configuration optimization for a free-floating space robot is implemented based on the design of optimization factor in null space. Finally, numerical simulation for a 7-degree-of-freedom free-floating space robot performing a contact task is carried out, and the simulation results verify the effectiveness of the proposed method.

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A Fuzzy Logic Reinforcement Learning Control with Spring-Damper Device for Space Robot Capturing Satellite

Cited by 12 publications

References 34 publications

Layout Design and Verification of a Space Payload Distributed Capture and Lock System

Layout Design and Verification of a Space Payload Distributed Capture and Lock System

Dynamic High-Type Interval Type-2 Fuzzy Logic Control for Photoelectric Tracking System

Risk Assessment Model-Guided Configuration Optimization for Free-Floating Space Robot Performing Contact Task

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