Predictor-based pose stabilization control for unmanned vehicles on SE(3) with actuator delay and saturation

Peng, Xiuhui; Zhou, Yijia; Yu, Jianlan; Guo, Lei; Zhang, Geng

doi:10.1016/j.ast.2021.106942

Cited by 2 publications

(1 citation statement)

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“…In (Chen, Huang, & Liu, 2019), a neural-networked-based predictor was adopted to deal with the random delay of a bilateral teleoperation space robot system. More recently, the predictor-based vibration control of a flexible satellite was considered in (Ma, He, Chen, & He, 2021); and in (Peng, Zhou, Yu, Guo, & Geng, 2021) the predictive control scheme was extended to the SE(3) space that is widely utilised by the robotic community.…”

Section: Predictor-based Control For Mechanical/robotic Euler-lagrang...mentioning

confidence: 99%

Predictor-based control of time-delay systems: a survey

Deng

Léchappé

Moulay

et al. 2022

International Journal of Systems Science

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With the developments of wireless data communication and network technology, time-delays are widely found in nowadays' control systems, e.g. networked control systems, mobile robot systems, and multiagent systems. Predictor-based control is an effective method dealing with long time-delays because it can generally lead to a delay-free closed-loop system by introducing a prediction for future states. Recently, various predictor-based control methods have been developed for numerous control systems subject to different time-delays, which motivates this survey. This paper presents a comprehensive review of the up-to-date results on the predictor-based control of time-delay systems. Firstly, the ordinary differential equation-based approaches for designing and analysing predictor-based controllers are summarised. Secondly, one reports an alternative method of predictor-based control, in which the systems/controllers are understood in the sense of partial differential equations. Next, several integration-free predictor-based controllers are introduced: by abandoning the infinite-dimensional integral terms, the control laws become easier to realise in practice. Hereafter, the paper discusses the real-time implementations and the practical applications of predictor-based control methods to several particular control systems. Finally, this paper suggests some new trends of predictor-based control for future research.

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Section: Predictor-based Control For Mechanical/robotic Euler-lagrang...mentioning

confidence: 99%

Predictor-based control of time-delay systems: a survey

Deng

Léchappé

Moulay

et al. 2022

International Journal of Systems Science

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Dual Quaternion Based Close Proximity Operation for In-Orbit Assembly via Model Predictive Control

Sun

Xiao

Sun

et al. 2021

International Journal of Aerospace Engineering

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This paper studies the problem of guidance and control for autonomous in-orbit assembly. A six-degree-of-freedom (6-DOF) motion control for in-orbit assembly close proximity operation between a service satellite and a target satellite is addressed in detail. The dynamics based on dual quaternion are introduced to dispose the coupling effect between translation and rotation in a succinct frame, in which relevant perturbation and disturbance are involved. With the consideration of economical principle for fuel consume, a generic control system based on model predictive control (MPC) is then designed to generate a suboptimal control sequence for rendezvous trajectory considering actuator output saturation. The stability and robustness issues of the MPC-based control system are analyzed and proved. Numerical simulations are presented to demonstrate the effectiveness and robustness of the proposed control scheme, while additional comparisons for diverse horizons of the MPC are further conducted.

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Predictor-based pose stabilization control for unmanned vehicles on SE(3) with actuator delay and saturation

Cited by 2 publications

References 40 publications

Predictor-based control of time-delay systems: a survey

Predictor-based control of time-delay systems: a survey

Dual Quaternion Based Close Proximity Operation for In-Orbit Assembly via Model Predictive Control

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