Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Yan, Wen; Liu, Yicheng; Lan, Qijie; Zhang, Tao; Tu, Haiyan

doi:10.1017/s0263574721000734

Cited by 40 publications

(17 citation statements)

References 41 publications

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“…Intelligence algorithms are a method to enhance automation. They are widely used in image processing, prediction, robotics and so on [ 6 , 7 , 8 , 9 , 10 , 11 ]. Currently, evolutionary algorithms and deep learning are two important intelligent systems [ 12 , 13 , 14 ].…”

Section: Introductionmentioning

confidence: 99%

Safety Helmet Detection Based on YOLOv5 Driven by Super-Resolution Reconstruction

Han

Liu

et al. 2023

Sensors

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High-resolution image transmission is required in safety helmet detection problems in the construction industry, which makes it difficult for existing image detection methods to achieve high-speed detection. To overcome this problem, a novel super-resolution (SR) reconstruction module is designed to improve the resolution of images before the detection module. In the super-resolution reconstruction module, the multichannel attention mechanism module is used to improve the breadth of feature capture. Furthermore, a novel CSP (Cross Stage Partial) module of YOLO (You Only Look Once) v5 is presented to reduce information loss and gradient confusion. Experiments are performed to validate the proposed algorithm. The PSNR (peak signal-to-noise ratio) of the proposed module is 29.420, and the SSIM (structural similarity) reaches 0.855. These results show that the proposed model works well for safety helmet detection in construction industries.

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Section: Introductionmentioning

confidence: 99%

Safety Helmet Detection Based on YOLOv5 Driven by Super-Resolution Reconstruction

Han

Liu

et al. 2023

Sensors

Self Cite

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“…[25] presented an adaptive singularity-free fixed time control scheme for the attitude regulation of rigid spacecraft. The novel sliding manifold is singularity free without the need to switch the manifold around the equilibrium of tracking errors, which showed a superiority to other FTC approaches such as [26][27][28]. Authors in [29] designed a class of general non-singular terminal fixed time sliding mode control scheme, and then applied it on a dual-arm free floating SRM to achieve the global predefined time stability.…”

Section: Introductionmentioning

confidence: 99%

Fixed Time Control of Free-Flying Space Robotic Manipulator with Full State Constraints: A Barrier-Lyapunov-Function Term Free Approach

Xie

Chen

2023

Preprint

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Space robotic manipulator (SRM) should be always performed in the given workspace for safety concern. This requires the system states such as rotation of each joint, attitude of base, and their velocities to be always constrained in the given boundaries. In this article, a new sliding mode control scheme based on a fixed time disturbance observer is proposed to realize the fixed time coordinate motion control of SRM with full-state constraints. Firstly, the tracking error and error velocity at the novel sliding manifold can converge to the equilibrium within a fixed time without violating their state constraints. Then, the control law working with the fixed time disturbance observer is designed to obtain the sliding manifold within a fixed time, which simultaneously guarantees the satisfaction of state constraints during the approaching stage. Unlike the most existing state constraint control schemes, the proposed controller does not include any Barrier Lyapunov Function (BLF) term of system states, and therefore the risk of controller outputting inappropriately high control commands is eliminated. Moreover, the proposed control scheme is compatible to the initial states violating the constraints, which thereby removes the assumption of feasible initial states. Furthermore, the proposed sliding manifold solves the singularity issue by a continuously varying power of tracking error, which thereby does not need an additional switch mechanism of manifold compared to the conventional fixed time controllers. The stability of the proposed control scheme is proven by using the Lyapunov theory, and the effectiveness is verified by numerical simulations.

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“…With the expansion of the application field of PTS, it is gradually installed on the motion platform. Therefore, higher requirements are proposed for the control algorithms acting on PTS, incorporating more adaptability [ 5 ], more intelligence [ 6 ], and more maneuverability [ 7 , 8 ]. A PID controller is a classical controller which is broadly applied in most practical control circumstances.…”

Section: Introductionmentioning

confidence: 99%

Fractional-Order Active Disturbance Rejection Control with Fuzzy Self-Tuning for Precision Stabilized Platform

Zhao

Liu

2022

Entropy

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In this paper, a novel fractional-order active disturbance rejection control with fuzzy self-tuning method (FSFOADRC) is proposed for photoelectric tracking system (PTS). Firstly, aiming at the internal uncertainty of PTS and external disturbance, a fraction-order extended state observer (FOESO) is designed, and the FOESO can transform the plant into a simple form, which greatly simplifies the mathematical model. Secondly, a fuzzy regulator is applied to the proportion–differentiation controller (PD), increasing the flexibility and adaptivity of the controller. In addition, the stability of the whole control system can be guaranteed. Eventually, numerical comparative simulations are implemented to verify the feasibility and superiority of the proposed method. Compared with the integral-order active disturbance rejection control (IOADRC), fractional-order active disturbance rejection control (FOADRC) without the fuzzy regulator and proportion–integration–differentiation (PID) controller, the proposed method performs better with faster response, smaller overshoot, and stronger disturbance suppression capability.

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Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Cited by 40 publications

References 41 publications

Safety Helmet Detection Based on YOLOv5 Driven by Super-Resolution Reconstruction

Safety Helmet Detection Based on YOLOv5 Driven by Super-Resolution Reconstruction

Fixed Time Control of Free-Flying Space Robotic Manipulator with Full State Constraints: A Barrier-Lyapunov-Function Term Free Approach

Fractional-Order Active Disturbance Rejection Control with Fuzzy Self-Tuning for Precision Stabilized Platform

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