Robust coordinated control of a dual-arm space robot

Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jayantha

doi:10.1016/j.actaastro.2017.06.009

Cited by 54 publications

(28 citation statements)

References 42 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To control multi-arm space robots in coordination with the spacecraft base, several schemes have been proposed, such as a model-based control algorithm ( Moosavian and Papadopoulos, 1997 ), and an adaptation of the AVSC ( Shi et al, 2017 ). The use of a second arm as a balancing mechanism, while the primary manipulator performs the desired task, was studied in Xu et al (2017) .…”

Section: Feedback Controlmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

View full text Add to dashboard Cite

Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

show abstract

Section: Feedback Controlmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

View full text Add to dashboard Cite

show abstract

“…Sliding mode control (SMC), which has many variants including the fast terminal sliding mode (FTSM) [37][38][39], the super-twisting sliding mode [40][41] and integral sliding mode (ISM) [42], is robust to system uncertainties and unknown disturbances. Therefore, SMC can deal with the bounded estimation errors of various estimation techniques including TDE, neural networks, and the FLA. To achieve the asymptotic stability under the presence of bounded estimation errors, many SMC schemes require either a monotonically increasing switching gain [43][44][45] or a conservative constant switching gain that is greater than the known upper bound of estimation errors [46][47][48]. However, over-estimating the switching gains will invariably lead to chattering effects, which will decrease the tracking accuracy and require the use of large actuator inputs (thus wasting fuel).…”

Section: Introductionmentioning

confidence: 99%

“…More precisely, the sliding variables will leave the sliding manifold if the switching gains are too small to handle TDE errors, so tracking accuracy is, once again, badly affected. Thus, to achieve the chattering reduction while retaining a good tracking accuracy, the SMC scheme needs to maintain the advantage of existing controllers [43][44][45][46][47][48] (reduction of chattering effects by decreasing switching gain without loss of stability) while preventing the sliding variables from leaving the manifold when the switching gains are small.…”

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

View full text Add to dashboard Cite

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.

show abstract

“…The coordinated attitude control scheme 4 has been demonstrated in the project Engineering Test Satellite VII (ETS-VII). 5 Variety of control techniques have been developed for space robot coordinated control systems, including variable structure control methods, [6][7][8][9] adaptive control approaches, [10][11][12][13] optimal control strategies, [14][15][16][17] neural network, 18,19 and extended state observer. 20 It should be pointed out that the manipulator motion 10,14 yields no platform attitude disturbance, which is based on the reaction null space (RNS).…”

Section: Introductionmentioning

confidence: 99%

Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

Wei

Yuan

Wang

2018

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

There often exist strong coupled characteristics between the space robot platform and the manipulators. The neglect of the coupled factors may induce undesired control performance or even lead to system crash. In this paper, a novel robust adaptive coordinated control scheme is developed for a space robot with coupled uncertainties and external disturbances. By proposing a multivariable generalized super-twisting algorithm, the bounded disturbances together with uncertainties could be compensated. An adaptation tuning approach is developed to deal with the unknown bounds. Meanwhile, the sliding mode disturbance observer is introduced to alleviate the system conservatism and improve convergence rate and accuracy. As a result, the accurate state tracking is achieved in finite time. A proof of the finite-time convergence is derived using the Lyapunov theory. Simulations are carried out on a space robot with a three-degrees-of-freedom manipulator to demonstrate the effectiveness and robustness of the proposed method.

show abstract

Robust coordinated control of a dual-arm space robot

Cited by 54 publications

References 42 publications

Robotic Manipulation and Capture in Space: A Survey

Robotic Manipulation and Capture in Space: A Survey

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

Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

Contact Info

Product

Resources

About