Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance

Jiang, Canghua; Teo, Kok Lay; Xu, Honglei; Caccetta, Louis; Duan, Guang‐Ren

doi:10.1016/j.robot.2015.05.014

Cited by 11 publications

(3 citation statements)

References 20 publications

(51 reference statements)

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“…However, as to spacecrafts, we usually only consider the attitude control issue for them. In previous works [55][56][57][58], the attitude control issues of single spacecraft were focused on, and the traditional constraint boundary [4] was adopted to design a prescribed performance attitude controller to guarantee the agility of spacecraft. However, the addressed controllers [55][56][57][58] must be repeatedly designed according the different signs of initial errors.…”

Section: Ppc Of Spacecraftsmentioning

confidence: 99%

“…In previous works [55–58], the attitude control issues of single spacecraft were focused on, and the traditional constraint boundary [4] was adopted to design a prescribed performance attitude controller to guarantee the agility of spacecraft. However, the addressed controllers [55–58] must be repeatedly designed according the different signs of initial errors. In Zhou et al [59], the simplified constraint boundary , instead of , was used to develop an attitude controller with prescribed performance for a space manipulator, but the initial value of error should be suitably chosen to meet the initial condition

- σ_{L} p_{0} < e ((), 0) < σ_{R} p_{0}

.…”

Section: Applications Of Ppcmentioning

confidence: 99%

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Prescribed performance control approaches, applications and challenges: A comprehensive survey

2022

Asian Journal of Control

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As to control systems, transient performance is as important as steady‐state performance. For some special dynamic systems, transient performance is a more prior index in comparison with the steady‐state one. Prescribed performance control (PPC) has been proved to be a powerful tool that guarantees control system outputs/errors with desired transient performance as well as steady‐state performance. The purpose of this paper is to give a comprehensive review on the latest developments of PPC theories and applications. The existing performance functions are classified into five different categories, and their features are comprehensively compared, providing a useful guidance for further applications. Then, the latest developments of PPC's applications in all kinds of control systems are recalled. Specially, the faced challenges and theoretical defects of PPC are discussed, which is expected to point out the further research direction for PPC.

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Section: Ppc Of Spacecraftsmentioning

confidence: 99%

- σ_{L} p_{0} < e ((), 0) < σ_{R} p_{0}

.…”

Section: Applications Of Ppcmentioning

confidence: 99%

Prescribed performance control approaches, applications and challenges: A comprehensive survey

2022

Asian Journal of Control

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“…Different adaptive approaches have been presented for uncertain FFM control such as works in Abiko and Hirzinger (2009), Wang and Xie (2009), Jiang et al (2015), Wang (2012) which have considered uncertainty both in dynamics and kinematics (Jacobian matrix), an adaptive inverse dynamics control approach is presented in Wang (2011) to overcome the nonlinear parametric problem in FFM dynamics. Using velocity observers in control of a flexible joint, FFM with parametric uncertainty is discussed in Yu and Chen (2015).…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of free-floating manipulator in presence of stochastic input disturbances and unknown dynamical parameters

Sakha

Kharrati

Mehdifar

2021

Journal of Vibration and Control

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The trajectory tracking problem of a free-floating manipulator with dynamical uncertainties and stochastic input disturbances is solved in this study. First, the free-floating manipulator is mapped to a conventional fixed base dynamically equivalent manipulator. Then, by using the well-known properties of a revolute joint manipulator and taking into account the random disturbances with unknown power spectral density in control inputs, an adaptive controller scheme is developed. The proposed technique uses the exponential practical stability concept which guarantees that the tracking error and its derivative converge to an arbitrarily small neighborhood of zero by appropriate tuning of the controller’s parameters. It is noteworthy that the proposed controller does not need any physical parameters of the robot. Simulation studies demonstrate the effectiveness and capability of the proposed method for trajectory tracking in the presence of unknown stochastic input disturbances and dynamical uncertainties.

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Nonlinear adaptive control for dynamic and dead-zone uncertainties in robotic systems

Liu

Jiang

Dong

2017

Int. J. Control Autom. Syst.

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Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance

Cited by 11 publications

References 20 publications

Prescribed performance control approaches, applications and challenges: A comprehensive survey

Prescribed performance control approaches, applications and challenges: A comprehensive survey

Adaptive control of free-floating manipulator in presence of stochastic input disturbances and unknown dynamical parameters

Nonlinear adaptive control for dynamic and dead-zone uncertainties in robotic systems

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