Finite-time control for spacecraft body-fixed hovering over an asteroid

Lee, Daero; Sanyal, Amit K.; Butcher, Eric A.; Scheeres, Daniel J.

doi:10.1109/taes.2014.140197

Cited by 79 publications

(31 citation statements)

References 35 publications

(68 reference statements)

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“…Further, if (17) reduces to (22), which shows that (22) is a special case of (17). The proposed approach is more general than the one in [14].…”

Section: Remark 4: Ifmentioning

confidence: 83%

“…This control law is given by: Comparing (17) and (22), the control proposed in (17) is different to that presented in (22) and developed in [13,14] in the following ways:…”

Section: Remarkmentioning

confidence: 99%

“…LKq  is used in (17 (17) provides terminal convergence characteristics. By incorporating this term, the proposed approach has higher precision, faster convergence speed and stronger robustness when compared to the strategy presented in [14].…”

Section: Remarkmentioning

confidence: 99%

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A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs

Zhao

Spurgeon

Liang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 231 (4). pp. 271-281. ISSN 0959-6518 Available from: http://eprints.uwe.ac.uk/31842We recommend you cite the published version. The publisher's URL is: http://dx.doi.org/10.1177/0959651817698333Refereed: Yes (no note) Disclaimer UWE has obtained warranties from all depositors as to their title in the material deposited and as to their right to deposit such material. UWE makes no representation or warranties of commercial utility, title, or fitness for a particular purpose or any other warranty, express or implied in respect of any material deposited. UWE makes no representation that the use of the materials will not infringe any patent, copyright, trademark or other property or proprietary rights. UWE accepts no liability for any infringement of intellectual property rights in any material deposited but will remove such material from public view pending investigation in the event of an allegation of any such infringement. PLEASE SCROLL DOWN FOR TEXT. A New Terminal Converging AbstractIn this study, a new terminal converging adaptive control approach with bounded control inputs is developed for the 6 degree of freedom (DOF) parallel robot manipulator. The non-smooth feedback control principle is combined with particular bounded functions to define both the control input and associated adaptive law. TheLyapunov method is used to present a stability analysis in order to prove that the error trajectories are semi-globally asymptotically stable. Numerical simulation results relating to a 6 DOF parallel robot are presented to validate the effectiveness of the proposed approach and to compare the performance obtained with other candidate control schemes. It is shown that the proposed scheme achieves more rapid error convergence and exhibits improved robustness whilst guaranteeing that the control signal remains within known bounds.Keywords: Non-smooth control, Saturation control, Robot manipulator, Parallel robot IntroductionThe 6 DOF parallel robot manipulator has some superior properties when compared with its serial counterpart such as higher accuracy, higher stiffness and higher load-carrying capacity [1,2]. By virtue of these merits, they can be used as actuators for high precision operation of heavy payload such as a flight simulator, an astronomical telescope or machine-tools [3,4]. Such applications require high performance control, which means the designed control algorithm should achieve high precision and a fast convergence speed.From the point of view of systems and control, the 6 DOF parallel robot manipulator is a typical multi-input multi-output (MIMO), strongly coupled nonlinear system. Due to the complex dynamics and application environment, modeling error cannot be avoided. It is very challenging to design high performance control algorithms and this has attracted extens...

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“…Further, if (17) reduces to (22), which shows that (22) is a special case of (17). The proposed approach is more general than the one in [14].…”

Section: Remark 4: Ifmentioning

confidence: 83%

“…This control law is given by: Comparing (17) and (22), the control proposed in (17) is different to that presented in (22) and developed in [13,14] in the following ways:…”

Section: Remarkmentioning

confidence: 99%

See 1 more Smart Citation

A new terminal converging adaptive control for 6-degree-of-freedom parallel robotic manipulators with bounded control inputs

Zhao

Spurgeon

Liang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…The integrated 6-DOF orbit-attitude dynamical modeling and control of spacecraft have shown great importance in various space missions, such as formation flying [1][2][3][4][5][6][7], proximity operations [8][9][10][11][12][13][14], and proximity operations about minor celestial bodies [15][16][17].…”

Section: Introductionmentioning

confidence: 99%

“…Consequently, adequate control theories are needed in the controller design, such as the sliding mode control [9], adaptive control [12,13], 2 International Journal of Aerospace Engineering adaptive sliding mode control [3,17], adaptive terminal sliding mode control [2,14], finite-time control [5,16,26], and state-dependent Riccati equation (SDRE) method [4,7].…”

Section: Introductionmentioning

confidence: 99%

Integrated 6-DOF Orbit-Attitude Dynamical Modeling and Control Using Geometric Mechanics

Jiang

2017

International Journal of Aerospace Engineering

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The integrated 6-DOF orbit-attitude dynamical modeling and control have shown great importance in various missions, for example, formation flying and proximity operations. The integrated approach yields better performances than the separate one in terms of accuracy, efficiency, and agility. One challenge in the integrated approach is to find a unified representation for the 6-DOF motion with configuration space SE(3). Recently, exponential coordinates of SE(3) have been used in dynamics and control of the 6-DOF motion, however, only on the kinematical level. In this paper, we will improve the current method by adopting exponential coordinates on the dynamical level, by giving the relation between the second-order derivative of exponential coordinates and spacecraft's accelerations. In this way, the 6-DOF motion in terms of exponential coordinates can be written as a second-order system with a quite compact form, to which a broader range of control theories, such as higher-order sliding modes, can be applied. For a demonstration purpose, a simple asymptotic tracking control law with almost global convergence is designed. Finally, the integrated modeling and control are applied to the body-fixed hovering over an asteroid and verified by a simulation, in which absolute motions of the spacecraft and asteroid are simulated separately.

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