Rigid–Flexible Coupled System Attitude–Orbit Integration Fixed-Time Control

Zhang, Yinghui; Ma, Chengbin; Ma, Songjing; Pan, Junfeng; Sui, Xiaohong; Lin, Bowei; Shi, Mengjie

doi:10.3390/electronics12153329

Cited by 2 publications

(2 citation statements)

References 27 publications

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“…The issue of rigid-flexible coupling in mechanisms has also been widely studied in aerospace [17]. Zhong, R [18] utilized neural networks to identify rigidsoft coupling terms and improved attitude control precision through an enhanced PD controller. Ye, D [19] proposed a robust output feedback attitude-tracking control method, ensuring that the rigid-flexible spacecraft could track time-varying reference attitudes based solely on angle and angular velocity measurements.…”

Section: Introductionmentioning

confidence: 99%

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

Yang,

Liu,

Liu

et al. 2023

Biomimetics

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The motion process of legged robots contains not only rigid-body motion but also flexible motion with elastic deformation of the legs, especially for heavy loads. Hence, the characteristics of the flexible components and their interactions with the rigid components need to be considered. In this paper, a hierarchical control strategy for robots with rigid–flexible coupling characteristics is proposed. This strategy involves (1) leg force prediction based on real-time motion trajectories and feedforward compensation for the error caused by flexible components; (2) building upon the centroid dynamics model of the rigid-body chassis, the centroid trajectories (centroid angular momentum (CAM) and centroid linear momentum (CLM)) and the body trajectory are taken into account to derive the optimal drive torque for maintaining body stability; (3) finally, the precise force control of the hydraulic drive units is achieved through the sliding mode control algorithm, integrating the dynamic model of the flexible legs. The proposed methods are validated on a giant hexapod robot weighing 3.5 tons, demonstrating that the introduced approach can reduce the robot’s vibrations.

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Section: Introductionmentioning

confidence: 99%

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

Yang,

Liu,

Liu

et al. 2023

Biomimetics

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“…Due to its fast response and strong robustness [20,21], finite-time control in the field of spacecraft control is becoming a hot research topic [22,23]. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Guo,

Chen,

Zhang

et al. 2023

Electronics

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For integrated pose control of six-degree-of-freedom (6-DOF) leader–following spacecraft formations, the coupled relative pose between two spacecraft is described by a unified model in the framework of twistors, based on which a finite-time control law is devised for the 6-DOF dynamic system. Firstly, some necessary coordinate frames are defined, and then, relative 6-DOF dynamics of the follower spacecraft with respect to the desired frame are modeled by using twistors. Secondly, an integrated pose controller is designed for the 6-DOF formation that takes full advantage of homogeneous theory to guarantee finite-time stability. Finally, numerical simulations are carried out to validate the effectiveness of the proposed controller. Developing integrated 6-DOF formation control law based on twistors is more straightforward than conventional methods, and the finite-time algorithm achieves stronger robustness than asymptotic ones.

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Rigid–Flexible Coupled System Attitude–Orbit Integration Fixed-Time Control

Cited by 2 publications

References 27 publications

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

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