Adaptive control of free-floating space robots in Cartesian coordinates

Parlaktuna, Osman; Özkan, Metin

doi:10.1163/1568553042225732

Cited by 25 publications

(14 citation statements)

References 9 publications

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“…In the paper, the model of the two degrees of freedom robot satellite system with floating base is taken as the simulation object, shown in Figure 2(a) and 2(b). Two cases are simulated in the paper, one is the case of adaptive control in Parlaktuna and Ozkan 14 and the other is the case of adaptive variable structure control proposed in the paper. Similar to this paper, an adaptive controller is proposed by Parlaktuna and Ozkan for free-floating space robots in Cartesian coordinates.…”

Section: Simulationmentioning

confidence: 99%

“…The method creates an augmentation variable composed of the parameters of the end of the manipulator and the joints, which makes the inertial parameters of the system dynamics equation accord with the linear rule. Parlaktuna and Ozkan 14 studied an indirect adaptive control strategy based on the extended manipulator, but all the controller parameters of the strategy also need to be estimated on line, so the amount of the calculation is huge and the reversibility of the inertia matrix adopting the inverse dynamics method cannot be ensured. In addition, adaptive control is only effective for the issues of parametric uncertainties.…”

Section: Introductionmentioning

confidence: 99%

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An adaptive variable structure control of the robot satellite system with floating base in Cartesian space

Zhang

Wang

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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Aiming at the non-parametric and time-varying parametric uncertainty problems such as the external disturbances, smooth parameter variations and jump parameter changes existing in the robot satellite system with floating base, an adaptive variable structure trajectory tracking control method in Cartesian space is proposed. The dynamics equation in joint space of the robot satellite system with floating base is established based on the extended manipulator model, and the dynamics model of the system in Cartesian space is derived considering external disturbances to the manipulator and the base simultaneously. An adaptive variable structure controller is designed by adopting the composite adaptive control combined with variable structure control under the condition that the bounds of external disturbances and parameter variations are unknown, and the robustness analysis of the controller is performed. The simulation of a two-link planar robot satellite system with floating base adopting the control method presented is implemented. The simulation result shows that the end-effector of the robot satellite with floating base has a good capability of trajectory tracking in Cartesian space.

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Section: Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An adaptive variable structure control of the robot satellite system with floating base in Cartesian space

Zhang

Wang

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…To avoid the measurement of the spacecraft angular acceleration and the manipulator joint accelerations during the dynamic parameter estimation, using the filtering technique [26] to act on both sides of (4) and (5), we get the filtered dynamic model [12] …”

Section: Kinematic and Dynamic Parameter Estimationmentioning

confidence: 99%

“…This is mainly caused by the nonlinearly parametric feature of the dynamics of free-floating manipulators (i.e., the FFSM dynamics cannot be expressed linearly with respect to a group of physical parameters) [9]. One possible solution to this problem is the normal form augmentation based approach [11,12], which achieves inertia-space trajectory tracking of free-floating manipulator systems with dynamic uncertainties. Its major deficiency is the requirement of measurement of the spacecraft acceleration and moreover the stringent condition (due to the use of the spacecraft acceleration in the control) under which this controller can work seems not intuitively understandable.…”

Section: Introductionmentioning

confidence: 99%

Prediction Error Based Adaptive Jacobian Tracking for Free-Floating Space Manipulators

Wang¹,

Xie²

2012

IEEE Trans. Aerosp. Electron. Syst.

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The work presented here investigates task-space trajectory tracking control for free-floating space robots with uncertain kinematics and dynamics. To deal with these two kinds of uncertainties, we propose a prediction error based adaptive Jacobian controller, which includes a modified task-space computed torque controller and two modified least-squares estimators. By defining a new variable that is termed asthe estimate of the spacecraft angular acceleration, the proposed controller can work without requiring measurement of the spacecraft angular acceleration. The kinematic and dynamic parameter adaptations are driven by prediction errors. Using input-output stability analysis, we obtain explicit stability results of the closed-loop system and show the asymptotic convergence of the end-effector motion tracking errors of the free-floating manipulator. Furthermore, it is shown that the performance of the proposed controller has a tight relationship with the estimated generalized Jacobians of free-floating manipulators. Simulation results are presented to show the performance of the proposed controller, and in addition some implementation issues of the proposed control algorithm are discussed.

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“…[Fu et al (2007)], on the other hand, established an off-line adaptive estimator to provide accurate identified parameters to a dynamic control law. In order to cope with the nonlinear parameterization problem of the dynamic model of the free-floating space robot system, [Gu & Xu (1993)], [Parlaktuna & Ozkan (2004)] and [Fu et al (2007)] have modeled the system as an extended arm, and [Abiko & Hirzinger (2009)] used the inverted chain approach to explicitly describe the coupled dynamics between the end-effector and the robot arm. This chapter deals with the problem of robust trajectory tracking control in task space for free-floating manipulator systems subject to plant uncertainties and external disturbances.…”

mentioning

confidence: 99%

Adaptive Robust Controller Designs Applied to Free-Floating Space Manipulators in Task Space

Pazelli¹,

Terra²,

Siqueira³

2010

Robot Manipulators Trends and Development

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Adaptive control of free-floating space robots in Cartesian coordinates

Cited by 25 publications

References 9 publications

An adaptive variable structure control of the robot satellite system with floating base in Cartesian space

An adaptive variable structure control of the robot satellite system with floating base in Cartesian space

Prediction Error Based Adaptive Jacobian Tracking for Free-Floating Space Manipulators

Adaptive Robust Controller Designs Applied to Free-Floating Space Manipulators in Task Space

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