Adaptive reactionless control of free-floating space manipulators for detumbling a target with dynamic uncertainties

Zhan, Bowen; Duan, Bosong; Cheng, Sibo; Yang, Dapeng; Jin, Minghe

doi:10.1016/j.asr.2022.07.070

Cited by 3 publications

(4 citation statements)

References 26 publications

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“…Here the proposed control scheme is compared with the RNS method in [36,37] to show the performance of the proposed control scheme. On one hand, the simulation results of the proposed control scheme is provided in Figure 5.…”

Section: Simulation Comparisonsmentioning

confidence: 99%

“…Here the proposed control scheme is compared with the RNS method in [36, 37] to show the performance of the proposed control scheme.…”

Section: Simulationsmentioning

confidence: 99%

“…In Figures 6d and 6f, it can be seen that the attitude tracking error and the angular velocity of the FFSM end‐effector cannot converge to zero simultaneously. The reason of the above difference is that the attitude stabilization of the base spacecraft and the attitude tracking of the end‐effector are not considered in [36, 37]. Hence, it is concluded that the proposed control scheme can achieve the attitude stabilization of the base spacecraft and the pose tracking of the end‐effector simultaneously.…”

Section: Simulationsmentioning

confidence: 99%

“…Both the inverse kinematics and the derivative of the generalized Jacobi matrix can be avoided. Compared with the RNS method in [36, 37], the proposed control method can ensure that the attitude stabilization error of the based spacecraft converges to zero, and the trajectory tracking error of the end‐effector converges to zero simultaneously. 2)The prescribed performance reactionless control of the uncertain FFSM is considered. A set of prescribed performance constraints are incorporated into reference acceleration schemes.…”

Section: Introductionmentioning

confidence: 99%

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Reactionless control of free‐floating space manipulators with parameter uncertainty and input disturbance

Gong,

Jia,

Jia

2024

IET Control Theory & Appl

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This paper studies the control problem of free‐floating space manipulators, and a control scheme is proposed to solve reactionless control of the end‐effector pose tracking with parameter uncertainty and input disturbance. First, based on dual modeling to treat the end‐effector as a virtual base spacecraft, the dynamics with uncertainties are established which map the joints' torque to the end‐effector pose and base spacecraft attitude, while the inverse kinematics and the derivative of the generalized Jacobi matrix can be avoided in controller design. Then, the reference acceleration stabilization schemes satisfying prescribed performance constraints are carefully designed for tracking errors, and based on these schemes the steady‐state and transient performance of the tracking control can be guaranteed. Further, the radial basis function neural network is adopted to estimate modeling errors caused by parameter uncertainty and input disturbance. In addition, a concurrent learning method is introduced in the network weights matrix update law, which allows the estimation errors to converge a neighborhood of zeros without the need for satisfying the persistent excitation condition. The simulation results verify the effectiveness of the proposed control scheme.

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Section: Simulation Comparisonsmentioning

confidence: 99%

“…Here the proposed control scheme is compared with the RNS method in [36, 37] to show the performance of the proposed control scheme.…”

Section: Simulationsmentioning

confidence: 99%

Section: Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations