Optimal reorientation of a free-floating space robot subject to initial state uncertainties

Yao, Qijia; Ge, Xinsheng

doi:10.1007/s40430-018-1064-1

Cited by 8 publications

(4 citation statements)

References 42 publications

(57 reference statements)

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“…Currently, adsorption techniques applied to crawling robots generally include vacuum, positive-pressure, electromagnetic, permanent magnet, adhesive, and dry adhesive adsorption [4][5][6][7]. Because of the characteristic vacuum environment in space, the vacuum and positive-pressure adsorption techniques cannot be used.…”

Section: Introductionmentioning

confidence: 99%

Adhesion properties of carbon nanotube arrays for an adhesive foot of a space crawling robot

Hou

Jiang

et al. 2019

Smart Mater. Struct.

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A new type of space crawling robot was proposed for spacecraft maintenance missions and a nanoscale microarray structure was designed as the robot foot structure. In this study, a carbon nanotube array structure was adopted as the adhered nanoscale microarray structure of the robot foot. A theoretical model of the carbon nanotube structure was established, and the influence of the structural parameters of the carbon nanotube array on its adhesion characteristics was analyzed. A force model of carbon nanotube arrays on different roughness surfaces and under different preloads was established using the discrete element software, EDEM. A simulation of the desorption process of the carbon nanotube array structure in the normal and tangential directions was conducted. The adhesion characteristics of the carbon nanotube structure were analyzed. On this basis, the carbon nanotube microarray structure was fabricated using chemical vapor deposition, and a force test system was established on the platform of a scanning electron microscope to test the adhesion force of the carbon nanotube array in a vacuum environment. The influence of preloading and roughness on the adhesion characteristics of the carbon nanotube array structure was analyzed.

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Section: Introductionmentioning

confidence: 99%

Adhesion properties of carbon nanotube arrays for an adhesive foot of a space crawling robot

Hou

Jiang

et al. 2019

Smart Mater. Struct.

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“…Substituting the adaptive NN control law (24) and the RBFNN adaptive updating laws (25) and (26) into Eq. (32) yields…”

Section: Adaptive Nn Control Designmentioning

confidence: 99%

“…Yu and Chen [25] designed an observer-based two-time scale robust control scheme for a free-flying flexible-joint space manipulator with external disturbances. Yao and Ge [26] presented a control strategy combining optimal motion planning and feedback control for the optimal reorientation of a free-floating space robot subject to initial state uncertainties. Seddaoui and Saaj [27] developed a combined nonlinear H ∞ controller for a controlled-floating space robot subject to internal uncertainties and environmental perturbations.…”

Section: Introductionmentioning

confidence: 99%

Adaptive trajectory tracking control of a free-flying space robot subject to input nonlinearities

Yao

2020

J Braz. Soc. Mech. Sci. Eng.

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The input nonlinearities widely exist in a large range of mechanical systems. Nonetheless, they were relatively less considered in the trajectory tracking control of a space robot in the previous studies. In this paper, an adaptive neural network (NN) control method is proposed for the fast and exact trajectory tracking control of an attitude-controlled free-flying space robot subject to input nonlinearities. The parametric uncertainties and external disturbances are also taken into the consideration. First, a model-based controller is designed to track the desired trajectory of the space robot within a framework of backstepping technique. Then, an adaptive NN controller is designed by using two NNs to compensate for the lumped uncertainties caused by parametric uncertainties and external disturbances and the input nonlinearities, respectively. Rigorous theoretical analysis for the semiglobal uniform ultimate boundedness of the whole closed-loop system is provided. The proposed adaptive NN controller is structurally simple and model-independent, which makes the controller affordable for practical applications. In addition, the proposed adaptive NN controller can guarantee the position and velocity tracking errors converge to the small neighborhoods about zero even in the presence of parametric uncertainties, external disturbances, and input nonlinearities. To the best of the authors' knowledge, there are really limited existing controllers can achieve such excellent performance in the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

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“…Currently, adsorption techniques applied to crawling robots generally include vacuum adsorption, positive pressure adsorption, electromagnetic adsorption, permanent magnet adsorption, adhesive adsorption, and dry adhesion adsorption [4][5][6][7]. From the characteristics of the vacuum environment, vacuum adsorption and positive pressure adsorption techniques cannot be used.…”

Section: Introductionmentioning

confidence: 99%

A study of the microstructure modification of a space crawling robot adhesive feet based on discrete element method

Hou

Jiang

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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According to the on-orbit maintenance mission requirements of a proposed space cooperative spacecraft, a new type of space crawling robot, which can be mounted on a grasping manipulator, is proposed. After the active spacecraft and the faulty target form a connection, the crawling robot can move to the spot on the faulty target that requires maintenance to be performed using fine operations. In this paper, the adhesion technology of space crawling robots was studied, and an adhesive microarray structure, which imitates gecko setae, was proposed. The simulation model was established using the discrete element software EDEM. The effects of the structural parameters, such as the contact area, length-diameter ratio, length, diameter, and density, on the adhesion characteristics of the microarrays in zero-gravity space environment were analysed using simulation. Based on the simulation results, a plasma deep etching process was used to process the microarray specimens. The desorption process was tested in the ground environment using the water droplet method, and the tangential desorption force was tested. The experimental data show that the tangential adhesion decreases with an increase in the spacing and the length-diameter ratio. The experimental results are very consistent with the simulation results, which further demonstrated the correctness of the discrete element simulation with respect to the desorption process and the rationality of the optimal design of the microarray structure.

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Optimal reorientation of a free-floating space robot subject to initial state uncertainties

Cited by 8 publications

References 42 publications

Adhesion properties of carbon nanotube arrays for an adhesive foot of a space crawling robot

Adhesion properties of carbon nanotube arrays for an adhesive foot of a space crawling robot

Adaptive trajectory tracking control of a free-flying space robot subject to input nonlinearities

A study of the microstructure modification of a space crawling robot adhesive feet based on discrete element method

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