Task space control of free-floating space robots using constrained adaptive RBF-NTSM

Guo, Shuxiang; Li, Dongxu; Ye, Meng; Fan, Caizhi

doi:10.1007/s11431-014-5487-3

Cited by 18 publications

(15 citation statements)

References 25 publications

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“…The concrete missions of UAVs in a swarm not only include the collective behavior, such as aggregation, separation, state uniform, and external obstacle (static or dynamic) avoidance, but also contain the individual behavior to avoid conflict with each other. Due to the large amount of computational cost and the high complexity of the whole UAV swarm system when fusing the numerous local environment information and making individual decisions to agree with the group decision, traditional centralized control [9,10] shrinks back at the sight of this complex mission and gives way to distributed control [11,12] with relaxed autonomy. The distributed control in a UAV swarm is a process of individual autocephalous perception and decision making to achieve a global objective.…”

Section: Uav Autonomous Swarms Inspired By Bird Flocksmentioning

confidence: 99%

Fully autonomous flying: from collective motion in bird flocks to unmanned aerial vehicle autonomous swarms

Qiu

Chen

Dou

et al. 2015

Sci. China Inf. Sci.

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Section: Uav Autonomous Swarms Inspired By Bird Flocksmentioning

confidence: 99%

Fully autonomous flying: from collective motion in bird flocks to unmanned aerial vehicle autonomous swarms

Qiu

Chen

Dou

et al. 2015

Sci. China Inf. Sci.

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“…We consider n as evenly spaced points in time t, and then, the error analysis function can be expressed as follows: (31) Furthermore, the individual evaluation of output accuracy can be expressed as follows:…”

Section: Motion Precision Analysis Of the Typical Space Manipulator Wmentioning

confidence: 99%

“…In the literature survey [25][26][27][28][29][30][31], the previous dynamic model of a flexible SSRM focused on its own structural properties, such as its flexible or hysteretic characteristic. However, reports on the quantitative analysis of the thermodynamic behavior of SSRMs that consider the thermal environment in orbit are rare.…”

Section: Introductionmentioning

confidence: 99%

Thermodynamic analysis of a space station remote manipulator with a harmonic drive that considers an integrated thermal protection layer

Zhao

Yan

et al. 2015

Sci. China Technol. Sci.

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To eliminate anomalies and improve the performance of a space station remote manipulator (SSRM) used in a dynamically changeable thermal environment, we analyze the thermodynamic behavior of an SSRM that considers an integrated thermal protection system (ITPS). Solar radiative heat gain and loss become equally significant as conductive heat transfers through the interior of the SSRM on orbit. A thermodynamic model of the SSRM with a sandwich ITPS structure is established on the coupling between harmonic drive and changeable thermal environment. A motion precision is proposed to evaluate thermodynamic behavior under continuously changeable thermal circumstances. Simulation results indicate that the ITPS with a corrugated sandwich structure reduces the maximum amplitude of angular position errors to 41.6%, which helps improve the motion precision of the SSRM. The feasible regions for the SSRM in the Low Earth Orbit (LEO) and Geostationary Earth Orbit (GEO) are analyzed, which shows that the proportion of feasible region in LEO is significantly larger than that in GEO. Space station remote manipulator, integrated thermal protection system, thermal analysis, harmonic drive, dynamic behavior Citation:Zhao J L, Yan S Z, Wu J N, et al. Thermodynamic analysis of a space station remote manipulator with a harmonic drive that considers an integrated thermal protection layer.

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“…Many algorithms have been proposed to cope with external disturbances and unmodelled nonlinearities, including neural networks (NN) [16][17][18][19][20][21][22][23], fuzzy logic approximators (FLA) [7,[24][25][26][27] and adaptive disturbance observers (ADO) [28][29][30][31][32]. Such algorithms have a stronger capability for motion control of FSRMs over control schemes [13][14][15] that can only handle parameter uncertainties.…”

Section: Introductionmentioning

confidence: 99%

A New Reinforcement Learning Based Adaptive Sliding Mode Control Scheme for Free-Floating Space Robotic Manipulator

Xie¹,

Sun²,

Kwan³

et al. 2020

IEEE Access

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This paper presents a new adaptive small chattering sliding mode control (SCSMC) scheme that uses reinforcement learning (RL) and time-delay estimation (TDE) for the motion control of free-floating space robotic manipulators (FSRM) subject to model uncertainty and external disturbance. The proposed sliding mode control scheme can achieve small chattering effects and improve the tracking accuracy by using a new adaptive law for the switching gain and a RL-based robust term to handle the control inputs. In SCSMC, the complicated multiple-input-multiple-output (MIMO) uncertain system of FSRM is transformed into multiple single-input-single-output (SISO) known subsystems with bounded estimation errors by the TDE technique and state feedback compensation. Subsequently, once the sliding variable is inside the designed manifold, the derivative of the switching gain for each subsystem becomes a negative hyperbolic tangent function of the associated sliding variable, which offers the ability to reduce chattering by decreasing the switching gain. Moreover, the RL based robust term for each subsystem is designed to avoid the loss of tracking accuracy caused by the aforementioned switching gain drop. The tracking errors are proven to be uniformly-ultimately-bounded (UUB) with an arbitrarily small bound by using the Lyapunov theory. The effectiveness of the proposed control scheme is verified by numerical simulations.

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Task space control of free-floating space robots using constrained adaptive RBF-NTSM

Cited by 18 publications

References 25 publications

Fully autonomous flying: from collective motion in bird flocks to unmanned aerial vehicle autonomous swarms

Fully autonomous flying: from collective motion in bird flocks to unmanned aerial vehicle autonomous swarms

Thermodynamic analysis of a space station remote manipulator with a harmonic drive that considers an integrated thermal protection layer

A New Reinforcement Learning Based Adaptive Sliding Mode Control Scheme for Free-Floating Space Robotic Manipulator

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