Inertia-free appointed-time prescribed performance tracking control for space manipulator

Fan, Yidi; Jing, Wuxing

doi:10.1016/j.ast.2021.106896

Cited by 11 publications

(16 citation statements)

References 35 publications

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“…The 𝑣 1,𝑖 and 𝑣 2,𝑖 are the elements of the vector 𝑣 1 and 𝑣 2 respectively, which are detailed in (37) and (38).…”

Section: Lemma 2 ([52]mentioning

confidence: 99%

“…It is also worth mentioning that Prescribed Performance Control (PPC) can be regarded as a particular case of state constraint control, since PPC approaches guarantee the transient performance (settling time and overshoot) by actively constraining the tracking error within some pre-defined decaying functions. Due to the merit of guaranteeing a pre-defined transient performance, many PPC schemes have been developed for robotic systems [37][38][39][40] and spacecrafts [41][42][43].…”

Section: Introductionmentioning

confidence: 99%

“…Section 5 concludes. The dynamic model of SRMs derived by using Lagrange method is shown as the following equation [11][12][13][14][15][16]38,39].…”

Section: Introductionmentioning

confidence: 99%

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Fixed Time Control of Free-Flying Space Robotic Manipulator with Full State Constraints: A Barrier-Lyapunov-Function Term Free Approach

Xie

Chen

2023

Preprint

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Space robotic manipulator (SRM) should be always performed in the given workspace for safety concern. This requires the system states such as rotation of each joint, attitude of base, and their velocities to be always constrained in the given boundaries. In this article, a new sliding mode control scheme based on a fixed time disturbance observer is proposed to realize the fixed time coordinate motion control of SRM with full-state constraints. Firstly, the tracking error and error velocity at the novel sliding manifold can converge to the equilibrium within a fixed time without violating their state constraints. Then, the control law working with the fixed time disturbance observer is designed to obtain the sliding manifold within a fixed time, which simultaneously guarantees the satisfaction of state constraints during the approaching stage. Unlike the most existing state constraint control schemes, the proposed controller does not include any Barrier Lyapunov Function (BLF) term of system states, and therefore the risk of controller outputting inappropriately high control commands is eliminated. Moreover, the proposed control scheme is compatible to the initial states violating the constraints, which thereby removes the assumption of feasible initial states. Furthermore, the proposed sliding manifold solves the singularity issue by a continuously varying power of tracking error, which thereby does not need an additional switch mechanism of manifold compared to the conventional fixed time controllers. The stability of the proposed control scheme is proven by using the Lyapunov theory, and the effectiveness is verified by numerical simulations.

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“…The 𝑣 1,𝑖 and 𝑣 2,𝑖 are the elements of the vector 𝑣 1 and 𝑣 2 respectively, which are detailed in (37) and (38).…”

Section: Lemma 2 ([52]mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fixed Time Control of Free-Flying Space Robotic Manipulator with Full State Constraints: A Barrier-Lyapunov-Function Term Free Approach

Xie

Chen

2023

Preprint

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show abstract

“…Accounting for inertial characteristics when compiling the equations of dynamics makes it possible to provide an optimal structure [4] or to investigate the contact forces of the manipulator [5]. The results of the study for a spacecraft with a manipulator are given in [6,7]. It was proved in [6] that taking into account the off-diagonality and non-stationarity of the control object makes it possible to reduce the energy consumption of the carrier system and the transferred body by 13-50 % for various angular maneuvers.…”

Section: Introductionmentioning

confidence: 99%

“…It was proved in [6] that taking into account the off-diagonality and non-stationarity of the control object makes it possible to reduce the energy consumption of the carrier system and the transferred body by 13-50 % for various angular maneuvers. In [7], the control of a space manipulator was studied to achieve a given performance and speed.…”

Section: Introductionmentioning

confidence: 99%

Analysis of the inertia tensor of autonomous mobile robot

Ashhepkova

2022

TAPR

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The object of research is the inertia tensor of an autonomous mobile robot (AMR) with a manipulator with different configurations of their mutual position. As an example of the AMR design of a changing configuration, an all-wheel drive four-wheeled platform with a manipulator is considered, consisting of a docking disk rotating around a vertical axis and rod links of the arm connected by rotational kinematic pairs of the fifth class. The mass of moving structural elements, i. e., a manipulator with a load, is 10–20 % of the mass of the robot platform. Let’s consider that the links of the manipulator and the platform are absolutely rigid and homogeneous bodies with a constant density; let’s neglect the mass of kinematic pairs. The next step in the analysis of the AMR inertia tensor of a changing configuration can be a study taking into account the elastic properties of the manipulator links, the uneven distribution of the masses of the platform, and the characteristics of the kinematic pairs. The dependence of the values of the elements of the AMR inertia tensor of a changing configuration on the values of the generalized coordinates of the moving elements of the structure and the ratio of the mass of the platform and the mass of the moving elements of the structure has been studied. The analysis of the inertia tensor of the AMR with a manipulator at different configurations of their mutual position showed that the values of the centrifugal moments of inertia of the system during the relative motion of the manipulator are commensurate with the value of the axial moments of inertia of the system, even if the mass of the moving structural elements is less than 10% of the mass of the platform. In most existing AMRs, the mass of moving structural elements is up to 20% of the platform mass, therefore, in the general case, the inertia tensor of such a system should be taken as off-diagonal and non-stationary. In the future, this will make it possible to refine the equation of dynamics, take into account the relationship of control channels, simulate the movement of AMR of a changing configuration, and optimize energy costs. Since AMR with the manipulator is an example of the «changing AMR» object class, the results obtained can be applied to all objects of this class.

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Continuous appointed‐time prescribed performance attitude tracking control for rigid spacecraft with actuator faults on SO(3)

Huang,

Zhang

2023

Intl J Robust & Nonlinear

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In this article, the attitude tracking problem for rigid spacecraft subject to external disturbance, inertia uncertainties, and actuator faults is investigated. A novel continuous control strategy is proposed to guarantee that the attitude tracking errors converge with desired performance before an appointed time. In addition, the proposed control law can enable the closed‐loop system to be unwinding‐free. For the purpose, a modified appointed‐time performance function (APF) is used to construct a disturbance observer‐based adaptive attitude control law based on the special orthogonal group (SO(3)). With the aid of the modified APFs, desired performance metrics, including transient and steady‐state performance, on the attitude tracking error can be specified in advance without the requirement for initial values of the tracking system to avoid singularity. By resorting to error transformation and backstepping technique, the control design process is simplified and a few control gains are involved in the proposed control law. Rigorous stability analysis based on the Lyapunov theory is provided to prove the appointed‐time stability of the attitude tracking error as well as the boundedness of all signals in the closed‐loop system despite external disturbance, inertia uncertainties, and actuator faults. Finally, numerical simulations are conducted to support the analysis.

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Inertia-free appointed-time prescribed performance tracking control for space manipulator

Cited by 11 publications

References 35 publications

Fixed Time Control of Free-Flying Space Robotic Manipulator with Full State Constraints: A Barrier-Lyapunov-Function Term Free Approach

Fixed Time Control of Free-Flying Space Robotic Manipulator with Full State Constraints: A Barrier-Lyapunov-Function Term Free Approach

Analysis of the inertia tensor of autonomous mobile robot

Continuous appointed‐time prescribed performance attitude tracking control for rigid spacecraft with actuator faults on SO(3)

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