Adaptive Control of Harmonic Drives Based on Virtual Decomposition

Zhu, Wen-Hong; Dupuis, Érick; Doyon, Michel; Piedbœuf, Jean-Claude

doi:10.1109/tmech.2006.882992

Cited by 16 publications

(11 citation statements)

References 23 publications

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“…In addition to the dynamics uncertainty of manipulator and joint elasticity, there are nonlinear frictions in the motor. Virtualdecomposition method [22], adaptive method [23], H∞ control and u-synthesis can be adopted to cope with nonlinear disturbances in motors. However, these robust methods have many control parameters which are usually sensitive to operational conditions [24].…”

Section: Introductionmentioning

confidence: 99%

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

et al. 2019

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A space manipulator needs to exhibit high stiffness for tracking, and good compliance for capturing a tumbling satellite. However, the elasticity caused by harmonic drives challenges both the highprecision motion and the flexibility of the manipulator. In this paper, we propose a novel control method based on a robust torque-tracking controller to eliminate the unexpected vibration resulting from elasticity and reject the perturbation caused by nonlinear friction of the motor. In order to achieve the high-precision motion of the manipulator with uncertain dynamics, we combined the method with an improved adaptive method. The position-based impedance control, taking both the translational and rotational impedance into account, is added to achieve the soft-capture of a tumbling satellite. The stability of the proposed method has been strictly proven by the Lyapunov method. The space manipulator is mounted on a controlled chaser, forming a free-flying space robot. A loose coordinated control between the chaser and the manipulator is adopted in the task simulation. The simulations for verifying controller performance and the task simulation reveal that the manipulator has high-precision motion performance in the pre-capture phase, achieves soft-capture in the capturing phase and offers a reliable connection between the chaser and the target in the de-tumbling phase. INDEX TERMS Flexible-joint manipulator, capture of tumbling satellite, robust and adaptive control, free-flying space robot.

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Section: Introductionmentioning

confidence: 99%

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

et al. 2019

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“…Due to the nonlinearity, the PI controller with fixed proportional and integral coefficients could not always meet the requirements. Several adaptive control schemes with torque feedback are introduced in [14][15][16]. In [15], the adaptive control algorithm based on virtual decomposition could improve the tracking performance obviously compared to PID controller.…”

Section: Introductionmentioning

confidence: 99%

“…Several adaptive control schemes with torque feedback are introduced in [14][15][16]. In [15], the adaptive control algorithm based on virtual decomposition could improve the tracking performance obviously compared to PID controller. Other control laws have been proposed for flexible joint.…”

Section: Introductionmentioning

confidence: 99%

Discrete Model Reference Adaptive Control for Gimbal Servosystem of Control Moment Gyro with Harmonic Drive

Han

Chen

et al. 2013

Mathematical Problems in Engineering

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The double-gimbal control moment gyro (DGCMG) demands that the gimbal servosystem should have fast response and small overshoot. But due to the low and nonlinear torsional stiffness of harmonic drive, the gimbal servo-system has poor dynamic performance with large overshoot and low bandwidth. In order to improve the dynamic performance of gimbal servo-system, a model reference adaptive control (MRAC) law is introduced in this paper. The model of DGCMG gimbal servo-system with harmonic drive is established, and the adaptive control law based on POPOV super stable theory is designed. The MATLAB simulation results are provided to verify the effectiveness of the proposed control algorithm. The experimental results indicate that the MRAC could increase the bandwidth of gimbal servo-system to 3 Hz and improve the dynamic performance with small overshoot.

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“…For an exhaustive literature review on this topic, the reader is referred to the work of Ulrich and Sasiadek (2009). One of the approaches developed by the Canadian Space Agency to solve the flexible joint control problem includes a virtual decompositionbased adaptive strategy that uses joint torque measurements (Zhu and Doyon, 2004;Zhu et al, 2006). However, as noted by Ozgoli and Taghirad (2006), the design of a simple and efficient position controller, considering dynamics uncertainties in the presence of practical limitations such as the number of feasible measurements, is an area open for further investigation and development.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control of flexible-joint space manipulators

Ulrich¹,

Sąsiadek²

2012

Can. Aeronaut. Space J.

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The research of the automatic control for the key technology of space flexible manipulators is a leading task in the current scientific research. According to the groundbreaking research results of the key technology of dynamics modeling and automatic control for robots obtained by the researchers in recent years, this paper carries out a comprehensive analytic demonstration and summarization on the key technology of automatic control for flexible manipulators.

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Adaptive Control of Harmonic Drives Based on Virtual Decomposition

Cited by 16 publications

References 23 publications

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

Discrete Model Reference Adaptive Control for Gimbal Servosystem of Control Moment Gyro with Harmonic Drive

Trajectory tracking control of flexible-joint space manipulators

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