Control of Space Free-Flying Robots Using Regulated Sliding Mode Controller

Moosavian, S. Ali A.; Homaeinejad, M. Reza

doi:10.1109/iros.2006.282333

Cited by 3 publications

(2 citation statements)

References 9 publications

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“…where u is the control input of the system. Combining equations (16) and (17), the following can be obtained…”

Section: Design Of the Adaptive Variable Structure Controller Slidingmentioning

confidence: 99%

“…Variable structure control is a common robust control method which can be employed to design the robust controller in order to enhance the system robustness. 17 However, in the process of designing variable structure controller, the ranges of the uncertainty bounds should be known. 18,19 If the adaptive method is adopted to estimate the uncertainty bounds online and the bounds are used for variable structure control, that is, the adaptive control compensates the parametric uncertainties, and then the design of controller employing robust control to compensate the non-parametric uncertainties will be a promising scheme.…”

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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“…where u is the control input of the system. Combining equations (16) and (17), the following can be obtained…”

Section: Design Of the Adaptive Variable Structure Controller Slidingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%