Extended-state-observer-based adaptive control of flexible-joint space manipulators with system uncertainties

Zhan, Bowen; Jin, Minghe; Liu, Jian

doi:10.1016/j.asr.2022.01.016

Cited by 17 publications

(7 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Z. Bowen et al propose an accurate estimation of the uncertainty of the velocity state of the manipulator and the stiffness of the joint by the Extended State Observer (ESO) [15]. M. J. Kim et al use the inverse method to generate adaptive controllers, in which dynamic uncertainty is compensated for by a radial basis function neural network (RBFNN) and joint-stiffness uncertainty is eliminated by ESO estimation.…”

Section: Related Workmentioning

confidence: 99%

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

Yang

Zeng³

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

This paper presents a novel control strategy for transferring large inertia loads using flexible space manipulators in orbit. The proposed strategy employs a Luenberger state observer and damping-stiffness controller to address issues of large tracking error and vibration. A comprehensive joint dynamics model is developed to identify the main sources of disturbance, and a Luenberger state observer is designed to estimate unmeasurable transmission deformation. Transmission stiffness and load inertia perturbations are identified based on the estimated results. By adjusting velocity damping and the gain of the forward channel, perturbations are suppressed to maintain optimal system damping and stiffness. Simulation and physical experiments demonstrate the effectiveness of the algorithm, with simulation experiments showing smoother joint output characteristics and minimal vibration under large load inertia changes, and a 97% reduction in internal deformation. Physical experiments demonstrate improved joint dynamic command tracking performance, with an 88% reduction in position tracking error. The algorithm provides a practical and efficient approach for transferring large inertia scientific payloads in space.

show abstract

Section: Related Workmentioning

confidence: 99%

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

Yang

Zeng³

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…Moreover, it is difficult to deal with input disturbance when the direct mapping between joints driving torque and tracking errors cannot be established. Several disturbance observers were carefully designed to estimate the disturbances and compensate the controller in [29][30][31]. Notably, Feng et al [32] and Zhang et al [33] have devised robust adaptive controller for FFSM with parameter uncertainty and input disturbance; they does not rely on the linearized feature of the dynamic model.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Gong,

Jia,

Jia

2024

IET Control Theory & Appl

View full text Add to dashboard Cite

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.

show abstract

“…In Jia et al (2021), an adaptive fuzzy terminal sliding mode control method was presented for a free-floating space manipulator with free-swinging joint failures. Zhan et al (2022) proposed an extended state observer-based adaptive controller for a flexible-joint space manipulator by adopting NN to compensate the system uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Unified neural output-constrained control for space manipulator using tan-type barrier Lyapunov function

Jahanshahi

Yao

Khan

et al. 2023

Advances in Space Research

View full text Add to dashboard Cite

Extended-state-observer-based adaptive control of flexible-joint space manipulators with system uncertainties

Cited by 17 publications

References 33 publications

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

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

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

Unified neural output-constrained control for space manipulator using tan-type barrier Lyapunov function

Contact Info

Product

Resources

About