Learning from adaptive neural network control of an underactuated rigid spacecraft

Zeng, Wei; Wang, Qinghui

doi:10.1016/j.neucom.2015.05.055

Cited by 21 publications

(11 citation statements)

References 36 publications

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“…Theorem 1. The underactuated system is considered as (2) and the switching surfaces are defined as ( 14) and (15). Using the TSMC disturbance observers ( 18) and ( 19), the error trajectories of disturbance approximation converge to the origin in the finite time.…”

Section: Resultsmentioning

confidence: 99%

“…Theorem 2. Consider the underactuated plant (2), sliding surfaces ( 14) and (15), and FTSMC manifolds (26) and (27). Using the control law as…”

Section: Resultsmentioning

confidence: 99%

“…Underactuated systems are categories of nonlinear dynamic systems which have fewer number of actuators than degrees of freedom [1][2][3][4][5]. The stabilizer and tracker design problems of these dynamical structures involve wide investigation due to their application in flexible manipulators [6], marine vessels [7], robotics [8,9], aircraft assembly [10], hovercraft [11], legged locomotion [12], overhead crane [13], satellite [14], rigid spacecraft [15], inverted pendulum [16], aeroelastic wing section [17], underwater vehicles [18], surface vessels [19], quad-rotors [20,21], flexible joint robots [22], cranes [23], visual servoing [24], proprioceptive tactile sensing [25], vertical take-off and landing drones [26] etc. Due to low numbers of actuators, the used energy and complexity of underactuated systems are less than fully actuated systems.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

et al. 2021

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In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances. The stability analysis of the proposed control scheme is verified via the Lyapunov stabilization theory. The designed control law is enough to drive a switching surface achieving the fast terminal sliding mode against severe model nonlinearities with large parametric uncertainties and external disturbances. Illustrative simulation results and experimental validations on a cart-inverted pendulum system are provided to display the success and efficacy of the offered method.

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Section: Resultsmentioning

confidence: 99%

“…Theorem 2. Consider the underactuated plant (2), sliding surfaces ( 14) and (15), and FTSMC manifolds (26) and (27). Using the control law as…”

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

et al. 2021

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“…Underactuated systems are categories of dynamical robotic systems (with nonlinear structures) which have less number of actuators than degrees of freedom (Lee et al., 2011). The stabilization and tracking control of such systems requires extensive study because of their high applicability in rigid spacecraft (Zeng and Wang, 2015), aircraft (Han, 2005), robotics (Birglen and Gosselin, 2006; Viswanathan et al., 2018), underwater vehicles (Bi et al., 2010; Caharija et al., 2012), flexible manipulators (Xin and Liu, 2013), surface vessels (Yoo and Park, 2017), quadrotor (Zemalache et al., 2005; Yih, 2017), etc. Owing to lower number of actuators in underactuated systems, the consumed energy, final cost, and complexity of this class of systems are low.…”

Section: Introductionmentioning

confidence: 99%

Adaptive global sliding mode control of underactuated systems using a super-twisting scheme: an experimental study

Mobayen

2019

Journal of Vibration and Control

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The control problem of underactuated systems with external perturbations is investigating in this paper. Using the super-twisting-based global sliding mode control (GSMC) method, an original control law is proposed to guarantee removal of the reaching mode and obtain the robustness and exponential stability of the underactuated systems. Via the offered scheme, a robust control law is designed so that the state trajectories of the underactuated systems are convergent to the global sliding surface in an exponential manner. Moreover, this article develops an adaptive super-twisting algorithm for these systems. The adaptive-tuning controller eliminates the need of the knowledge about upper bound of the exterior disturbance. The discontinuous sign function appears in the controller derivative; as a result, the actual control signal reached after integration is continuous and free of chattering. Demonstrative simulations on a cart–inverted pendulum system as well as an experimental study are presented to show the effectiveness and applicability of the proposed technique.

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“…Finally, non-linear model predictive control (MPC) was applied to realize attitude control. Based on the learning theory, Zeng and Wang (2015) studied the attitude stabilization problem of an underactuated spacecraft considering the dynamics of unknown systems. The ( w , z ) parameter was used to describe the attitude kinematics of the system and the adaptive neural network (NN) algorithm based on a radial basis function (RBF) was used to achieve stability.…”

Section: Introductionmentioning

confidence: 99%

Attitude stabilization and test validation of underactuated post-capture combination with multiple disturbances

Chen

Sun

Guo

et al. 2019

Transactions of the Institute of Measurement and Control

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This paper aims to address attitude stabilization control of an underactuated post-capture combination and achieve test validation based on the magnetism–buoyancy hybrid micro-gravity experiment system (MBHMES). Using a precise reduced model, a cascade control law is proposed to solve the issue theoretically. First, an advanced quaternion-based kinematic control law is proposed to stabilize the attitude of the non-symmetric post-capture combination. This control law can overcome the singularity brought about by the small initial attitude under the consideration of uncontrolled angular velocity. Then, considering the existence of multiple disturbances introduced by the fluid flow and electromagnetic force, an effective adaptive dynamic controller is proposed to meet the attitude requirement and reduce the negative effect of the multiple disturbances. For test demonstrations, a scenario of a base body capturing the target with robotics, to achieve attitude stabilization expectation, is described. Simulation results demonstrate the performance of the cascade control laws and test data show the effectiveness of the proposed method.

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Learning from adaptive neural network control of an underactuated rigid spacecraft

Cited by 21 publications

References 36 publications

Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

Adaptive global sliding mode control of underactuated systems using a super-twisting scheme: an experimental study

Attitude stabilization and test validation of underactuated post-capture combination with multiple disturbances

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