Experiments in end-effector tracking control for structurally flexible space manipulators

Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators

“…And space manipulators always are long, and to manipulate massive payloads. As a consequence, structural flexibility in the links is a well-known problem, and various control strategies have been proposed [6][7][8][9][10][11][12][13].…”

Estimation of the flexural states of a macro-micro manipulator using point-acceleration data

“…Other researchers have reported the use of strain gauges for the same purpose, among many others [7]- [10].…”

Direct adaptive control methodologies for flexible-joint space manipulators with uncertainties and modeling errors

“…As stated by Reintsema et al [7], ongoing development of space robotics technology must focus on intelligent, sensor-controlled lightweight robots. One well-known problem of such lightweight space manipulators in space applications is the increased structural flexibility, and various control strate gies have been proposed in the literature to minimize the resulting vibrations [8][9][10][11][12][13][14][15].…”

“…The standard SAC algorithm is adopted [91] u = K e(t)ey + K x(t)xm + K u(t)um (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17)(18)(19)(20)(21) where K e(t) € Rmxm is the time-varying stabilizing control gain m atrix, and K x (t) £ R mxnm and K u(t) € Rmxm are time-varying feedforward control gain matrices th a t contribute to maintaining the stability of the controlled system, and to bringing the output tracking error to zero. Each control gain m atrix is calculated as the summation of a proportional and an integral component, as follows:…”