Adaptive control for space debris removal with uncertain kinematics, dynamics and states

Huang, Panfeng; Zhang, Fan; Meng, Zhongjie; Liu, Zhengxiong

doi:10.1016/j.actaastro.2016.07.043

Cited by 82 publications

(26 citation statements)

References 26 publications

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“…The suggested viscoelastic model of strain and stress interactions in equation (6) Table 2 show that E 1 and E 2 are the dominant two parameters in model equation (6). But by one more analysis of the estimation performance comparison, for the model of E 1 parameter only, and for the model of both E 1 and E 2 parameters, shows that the estimation results were not significantly different.…”

Section: Model Parameter Estimationmentioning

confidence: 99%

“…Only an encoder and a pressure sensor to measure winch rotation angle and cable tension at each winch are equipped. Actual postures of the end-effector on global coordinate and actual cable length to compute Dl i are not available, and therefore the actual cable length needs to be estimated by the suggested model in equation (6). Figure 6 shows a block diagram of the suggested open-loop control.…”

Section: Controller Designmentioning

confidence: 99%

“…With the computed value of E 1 for the cable tension and length at the given position, other parameters in equation (6) are estimated from equation (10) by minimizing the error cost function. We used brute-force algorithm to find an optimal parameters arg min Figure 4 shows the surface fitted elastic model where red points are the experimental points and green surface is the operating ranges of our PCDPR system.…”

Section: Model Parameter Estimationmentioning

confidence: 99%

“…Several researches have been tried to encounter the flexible cable's viscoelastic effect in the CDPR control. To consider elastic behavior of cables, Huang et al 6 modeled the cable as series points connected via elastic massless links for the tethered space robots. Kraus et al 7 proposed a structured method to identify the load, estimate the resulting displacement of the platform, and improve relative accuracy by more than 50% by compensating it.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Piao

Jin

Jung

et al. 2017

Advances in Mechanical Engineering

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A polymer cable-driven parallel robot has a wide range of potential industrial applications by virtue of its light actuator dynamics, high payload capability, and large workspace. However, due to a viscoelastic behavior of polymer cable and difficulty in actual cable length measurement, there have been inevitable position and tracking control accuracy problems such as pick and place a high payload application. In this article, to overcome control problem, we propose a modelbased open-loop control with the cable elongation compensation via experimentally driven cable model and switching control logic without additional Cartesian space feedback signal. The approach suggests a five-element cable model that is made with series combination of a linear spring and two Voigt models as a function of payload and cable length that are available to be measured in real-time. Experimental results show that using the suggested method, the cable length error due to viscoelastic effect can be compensated, and thus the position control accuracy of the polymer cable-driven parallel robot improved remarkably especially in gravity direction.

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Section: Model Parameter Estimationmentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 99%

Section: Model Parameter Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Piao

Jin

Jung

et al. 2017

Advances in Mechanical Engineering

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“…Tethered space robot (TSR) systems consist of a gripper, a space tether and a space platform ( Figure 1) for future use in on-orbit services, such as on-orbit maintenance, on-orbit refuelling, auxiliary orbit transfer and space debris removal [1][2][3][4][5][6]. Many problems may arise during the TSR capture mission that is usually separated into deployment, approach, capture and postcapture phases [7,8] .…”

Section: Introductionmentioning

confidence: 99%

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

Huang

Wang

Zhang

et al. 2016

Intl J Robust & Nonlinear

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Summary Stabilization control is an essential mission for the tethered space robot‐target combination during the postcapture phase of tethered space robot (TSR). In this paper, the stabilization problem of such a tumbling combination is studied. With the consideration of the space tether and the attitude of the TSR's gripper, the dynamic model of the combination is first derived using Lagrange method. Then a robust nonlinear controller for the combination is proposed based on the backstepping control method. Considering the constraint on the velocity of the space tether, command filter method is utilized to guarantee the velocity of the space tether within a permitted range. A feedback term is designed to compensate the saturation of the thruster. Moreover, an adaptive law is designed to estimate the disturbance of parameter uncertainties and this disturbance is compensated in the proposed controller. Numerical simulations suggest that the proposed robust controller can realize the orbit and attitude stabilization of the combination; besides, the velocity of the space tether is effectively constrained and the parameter uncertainties of the combination can be compensated via the adaptive law. Copyright © 2016 John Wiley & Sons, Ltd.

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Robust Adaptive Force Tracking Impedance Control for Robotic Capturing of Unknown Objects

Huang

2019

Intelligent Robotics and Applications

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Adaptive control for space debris removal with uncertain kinematics, dynamics and states

Cited by 82 publications

References 26 publications

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

Robust Adaptive Force Tracking Impedance Control for Robotic Capturing of Unknown Objects

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