Prescribed performance tracking control of a free-flying flexible-joint space robot with disturbances under input saturation

Liu, Liaoxue; Yao, Wei; Guo, Yu

doi:10.1016/j.jfranklin.2021.03.001

Cited by 42 publications

(26 citation statements)

References 30 publications

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“…By adopting the piecewise function design, the anti-saturation compensator is developed to handle the input saturation. 42 By applying a smooth switching function, a piecewise anti-saturation compensator is further developed in Reference 43. The piecewise design is a good implementation to avoid the singularity when the state of anti-saturation compensator approaches zero.…”

Section: Introductionmentioning

confidence: 99%

“…Yang et al proposed an anti‐saturation prescribed performance control method for teleoperation system in Reference 41. In Reference 42, a robust control law with prescribed performance constraints is developed for a class of free‐flying flexible‐joint space robots with input saturation. The prescribed performance path following control of a surface vessel with input saturation is investigated in Reference 43, where the anti‐saturation control is also employed.…”

Section: Introductionmentioning

confidence: 99%

“…However, due to the limited number of data bits, the proposed design of Reference 41 may still face the compensator's singularity. By adopting the piecewise function design, the anti‐saturation compensator is developed to handle the input saturation 42 . By applying a smooth switching function, a piecewise anti‐saturation compensator is further developed in Reference 43.…”

Section: Introductionmentioning

confidence: 99%

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Initial configurations‐independent predefined performance control of robotic manipulator with input saturation

Zhai

Xia

2022

Intl J Robust & Nonlinear

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This article develops a guaranteed predefined performance control scheme for a class of robotic manipulators with input saturation and unknown uncertainties.The main advantage is that it can provide convenient and quantifiable predefined performance control, by integrating the  1 -class performance function in the prescribed performance control framework and designing an adaptive anti-saturation compensator. The maximum overshoot, the settling time, and the steady-state error can be specified independently and are not limited by the initial configurations of the robotic system, where the introduction of  1 -class performance function simplifies the control design. By introducing the adaptive neural network estimator and anti-saturation compensator, the proposed robust controller is also available in the presence of dynamic uncertainties, external disturbance, and actuator saturation. The proposed adaptive anti-saturation compensator can be easily incorporated into the guaranteed predefined performance control, which simplifies the stability analysis. Numerical results based on simulations demonstrate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Initial configurations‐independent predefined performance control of robotic manipulator with input saturation

Zhai

Xia

2022

Intl J Robust & Nonlinear

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“…With the development of aerospace technology, the practical application of the free-oating redundant space robot has become more and more popular [1,2].…”

Section: Introductionmentioning

confidence: 99%

Optimal Trajectory Planning for Minimizing Base Disturbance of a Redundant Space Robot with IQPSO

Zhang

Yang

Nie

et al. 2022

Journal of Electrical and Computer Engineering

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With the development of aerospace technology, the practical application of a free-floating redundant space robot has become more and more popular. The problem of minimizing base disturbance has been paid attention among academic researchers. If the space robot moves, it would have an impact on the pose of a base. The interference on a base should be reduced, which was caused by the movements of the space robot. In the paper, the simplified model of a redundant space robot has been described, which consists of a base and a 7-joint manipulator. Using the nonholonomic redundancy features, the pose of the base has been optimized planning. First, a set of kinematic equations of the redundant space robot was founded. Second, the 5-order polynomial function could be used for the parametric 7 joints. Third, on the basis of the pose requirements, a fitness function was defined. At last, the proposed improved quantum particle swarm optimization (IQPSO) algorithm was presented. The proposed IQPSO algorithm not only searched the optimal value easily but also had a good robust performance. The advantages could be shown through the numerical experiments, compared with the quantum-behaved particle swarm optimization (QPSO) algorithm, particle swarm optimization (PSO) algorithm, and simulated annealing particle swarm (SAPSO) algorithm. Then, the proposed IQPSO algorithm was used to optimize the fitness function of trajectory planning. By the simulation results, it could be confirmed that the proposed IQPSO algorithm searched the global optimal solution not only easily but also smoothly, compared with the QPSO, PSO, and SAPSO algorithms. The proposed approach was suitable for planning an optimal trajectory.

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“…However, the existing space robots are typical flexible multi-body systems, and their base, links and joints are subject to flexible vibration phenomena. For example, the joint device that drives the motion of the links of a space robot will be flexible due to reasons such as a lightweight drive motor [8]. The link is generally made of lightweight materials due to factors such as launch cost and structural design, and is designed as a slender rod-like structure, which is prone to vibration when performing tasks [9].…”

Section: Introductionmentioning

confidence: 99%

Integrated Fixed Time Sliding Mode Control for Motion and Vibration of Space Robot with Fully Flexible Base–Link–Joint

Chen

2021

Applied Sciences

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The dynamic modeling, motion control and flexible vibration active suppression of space robot under the influence of flexible base, flexible link and flexible joint are explored, and motion and vibration integrated fixed-time sliding mode control of fully flexible system is designed. The flexibility of the base and joints are equivalent to the vibration effect of linear springs and torsion springs. The flexible links are regarded as Euler–Bernoulli simply supported beams, which are analyzed by the hypothetical mode method, and the dynamic model of the fully flexible space robot is established by using the Lagrange equation. Then, the singular perturbation theory is used to decompose the model into slow subsystem including rigid motion and the link flexible vibrations, and fast subsystems including the base and the joint flexible vibrations. A fixed time sliding mode control based on hybrid trajectory is designed for the slow subsystem to ensure that the base and joints track the desired trajectory in a limited time while achieving vibration suppression on the flexible links. For the fast subsystem, linear quadratic optimal control is used to suppress the flexible vibration of the base and joints. The simulation results show that the controller proposed in the paper can make the system state converge within a fixed time, is robust to model uncertainty and external interference, and can effectively suppress the flexible vibration of the base, links, and joints.

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Prescribed performance tracking control of a free-flying flexible-joint space robot with disturbances under input saturation

Cited by 42 publications

References 30 publications

Initial configurations‐independent predefined performance control of robotic manipulator with input saturation

Initial configurations‐independent predefined performance control of robotic manipulator with input saturation

Optimal Trajectory Planning for Minimizing Base Disturbance of a Redundant Space Robot with IQPSO

Integrated Fixed Time Sliding Mode Control for Motion and Vibration of Space Robot with Fully Flexible Base–Link–Joint

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