An adaptive control for a free-floating space robot by using inverted chain approach

Abiko, Satoko; Hirzinger, G.

doi:10.1109/iros.2007.4399007

Cited by 37 publications

(12 citation statements)

References 13 publications

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“…In order for the controller to handle these changes, an adaptation law may be designed. Satoko and Hirzinger [187] proposed an adaptive controller for this purpose. They focused on the uncertainty of kinematic mapping, which included the dynamic parameters of the system.…”

Section: B Free-flying Casementioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: B Free-flying Casementioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…This remains a topic for further investigation. It is noteworthy, however, that Abiko and Hirzinger [10] have implemented this style of adaptation in simulation for a free-floating space manipulator in which only the grasped payload, rather than the entire system, has uncertain properties. It stands to reason that a grasped payload might be the most uncertain part of the system in a great many applications of practical interest, and the possibility of using DYMAFLEX in this manner will be explored in future simulations.…”

Section: Possible Adaptation Schemesmentioning

confidence: 99%

DYMAFLEX: DYnamic Manipulation FLight EXperiment

Akin¹,

McBryan²,

Limparis³

2013

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Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing this collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden to Department of Defense, Washington Headquarters Services, Directorate for Information The DYnamic MAnipulation FLight EXperiment (DYMAFLEX) is intended to perform basic research on the dynamic interactions between high-rate motions of a manipulator on a free-flying spacecraft bus. The DYMAFLEX spacecraft consists of a 50-kg small satellite incorporating a cold-gas reaction control system for attitude control, which carries an 80-cm four degree-of-freedom manipulator with accommodations for the addition of various sized tip masses for changing dynamic properties on-orbit. The successful flight of DYMAFLEX would accomplish the flight validation of all critical technologies for smallsat-based satellite servicing capabilities IAC-12-C1.8.9 SPONSORING / MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR'S ACRONYM(S) SPONSOR/MONITOR'S REPORT NUMBER(S) SPACE MANIPULATOR CONTROL FOR THE DYMAFLEX FLIGHT EXPERIMENTMr. Nicholas D'Amore University of Maryland, College Park, United States, ndamore@umd.edu Dr. David L. Akin * Unlike traditional fixed-base manipulators, manipulators used in space are mounted to a spacecraft which may move freely in response to any forces or torques. This results in a highly coupled dynamical system. In the past, robotic arms have often been slow and lightweight in comparison to their host spacecraft; but as economic incentives drive the development of smaller, faster, lighter vehicles, this coupling will present an increasing challenge in the development of suitable control systems. To improve understanding of the dynamics of this coupled system and to demonstrate and validate proposed controllers in the space environment, the University of Maryland Space Systems Lab is constructing the DYnamic MAnipulation FLight EXperiment (DYMAFLEX) microsatellite, the development of which is partially funded by the United States Air Force University Nanosat Program. Equipped with a high-performance manipulator representing approximately 14% of the mass of the combined system and having greater rotational inertia at full extension than the spacecraft itself, the DYMAFLEX vehicle represents the ideal test bed for space manipulator dynamics and control. This paper presents an overview of space manipulator control as it relates to the DYMAFLEX science mission, with simulation results exploring an intended maneuver in Cartesian space. The mission is designed to provide empirical validation of existing models for the behavior of a space manipulator as well as to provide a basis for comparison between proposed control strategies to assess their strengths and weaknesses in...

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“…Furthermore, the dynamic model of FSRMs cannot be linearly parameterized because of the free-floating base [10][11], which means the adaptive controllers for linearly parameterized models such as [12] are inapplicable. Hence, many research articles regarding motion control of FSRMs focus on handling nonlinear parameter uncertainties such as [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

“…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. More precisely, Jia and Shan [16] proposed a finite-time terminal sliding mode controller for space manipulators in which a radius basis function (RBF) neural network is used to compensate model 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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An adaptive control for a free-floating space robot by using inverted chain approach

Cited by 37 publications

References 13 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

DYMAFLEX: DYnamic Manipulation FLight EXperiment

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

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