A Novel Constant Damping and High Stiffness Control Method for Flexible Space Manipulators Using Luenberger State Observer

Yang, Tao; Xu, Fang; Zeng, Siyu; Zhao, Shunyi; Liu, Yuwang; Wang, Yanbo

doi:10.3390/app13137954

Cited by 2 publications

(2 citation statements)

References 33 publications

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“…Operationally, highly flexible space robots need to move around large loads of heavy items, potentially leading to large tracking errors. The study in [52] proposed dampingstiffness control including joint dynamics in a comprehensive model utilizing Luenberger observers for unmeasurable quantities. Damping was treated as a feedforward (plus gain), while the feedback is used to suppress perturbations.…”

Section: Broad Review Of Modeling and Control From First Principles T...mentioning

confidence: 99%

Bio–Inspired Space Robotics

Sands

2024

Preprint

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Controlling robots in space with necessarily low material and structural stiffness is quite challenging at least in part due to the resulting very low structural resonant frequencies. The frequencies are sometimes so low, the vary act of controlling the robot with medium or high bandwidth controllers lead to excitation of resonant vibrations. Biomimetics or biomimicry emulates models, systems, and elements of nature for solving such complex problems. Recent seminal publications have re-introduced the viability of optimal command shaping, and one recent instantiation mimics baseball pitching to propose control of highly flexible space robots. The readership will find a perhaps dizzying array of thirteen decently performing alternatives in the literature but could be left bereft selecting a method(s) deemed to be best suited for a particular application. Bio–inspired control of space robotics is presented in a quite substantial (perhaps not comprehensive) comparison, and the conclusions of the study indicate the top three performing methods based on minimizing control effort (i.e., fuel) usage, tracking error mean, and tracking error deviation include.

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Section: Broad Review Of Modeling and Control From First Principles T...mentioning

confidence: 99%

Bio–Inspired Space Robotics

Sands

2024

Preprint

View full text Add to dashboard Cite

show abstract

“…Operationally, highly flexible space robots need to move around large loads of heavy items, potentially leading to large tracking errors. The study in [ 52 ] proposed damping–stiffness control including joint dynamics in a comprehensive model utilizing Luenberger observers for unmeasurable quantities. Damping was treated as a feedforward (plus gain), while the feedback is used to suppress perturbations.…”

Section: Introductionmentioning

confidence: 99%

Bio-Inspired Space Robotic Control Compared to Alternatives

Sands

2024

Biomimetics

View full text Add to dashboard Cite

Controlling robots in space with necessarily low material and structural stiffness is quite challenging at least in part due to the resulting very low structural resonant frequencies or natural vibration. The frequencies are sometimes so low that the very act of controlling the robot with medium or high bandwidth controllers leads to excitation of resonant vibrations in the robot appendages. Biomimetics or biomimicry emulates models, systems, and elements of nature for solving such complex problems. Recent seminal publications have re-introduced the viability of optimal command shaping, and one recent instantiation mimics baseball pitching to propose control of highly flexible space robots. The readership will find a perhaps dizzying array of thirteen decently performing alternatives in the literature but could be left bereft selecting a method(s) deemed to be best suited for a particular application. Bio-inspired control of space robotics is presented in a quite substantial (perhaps not comprehensive) comparison, and the conclusions of this study indicate the three top performing methods based on minimizing control effort (i.e., fuel) usage, tracking error mean, and tracking error deviation, where 96%, 119%, and 80% performance improvement, respectively, are achieved.

show abstract

A Novel Constant Damping and High Stiffness Control Method for Flexible Space Manipulators Using Luenberger State Observer

Cited by 2 publications

References 33 publications

Bio–Inspired Space Robotics

Bio–Inspired Space Robotics

Bio-Inspired Space Robotic Control Compared to Alternatives

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