Trajectory Tracking and Adaptive Fuzzy Vibration Control of Multilink Space Manipulators with Experimental Validation

The three-axis parallel motion platform (TAPMP) with a common stator has low motion inertia, enabling highly precise and high-speed motion over a large range of strokes. The primary challenge faced by the TAPMP lies in the mutual pulling exerted between the common stator motors during motion. The driving forces generated by the motors are closely associated with their synchronization motion, a connection often overlooked in the design of existing controllers. To address this issue, this paper presents a novel synchronization controller with dynamics compensation (SC–DC) to achieve motion synchronization between the three motors, ultimately enhancing the platform’s tracking accuracy in task space. In this SC–DC method, the synchronization error of the common stator motors is introduced to represent the synchronized motion relationship between adjacent motors, and a dynamic feedforward control is adopted to compensate for the motor’s driving force. The stability of the proposed controller is analyzed using Lyapunov theory, demonstrating the convergence of both the tracking error and synchronization error. Trajectory tracking simulations and experimental studies are conducted on the TAPMP. The results show that, compared to the augmented proportional-derivative controller with dynamic compensation, the proposed controller significantly reduces both the MAE of the tracking error and synchronization error on the q1 motor by 71.88% and 73.02%, respectively, demonstrating its performance advantages in trajectory tracking and synchronization.

Section: Introductionmentioning

confidence: 99%

Synchronization Control with Dynamics Compensation for Three-Axis Parallel Motion Platform

Zhou,

Gao,

Zhang

2024

“…Finally, Bassetto et al [15] discussed how solar sail attitude maneuvers may be designed in a collinear, artificial, equilibrium point by implementing a sliding mode control strategy that uses electrochromic devices as actuators [16][17][18]. Anyway, there are many other potential feedback control techniques [19][20][21], to which the interest reader is invited to refer.…”

Section: Introductionmentioning

confidence: 99%

A Sliding Mode Control-Based Guidance Law for a Two-Dimensional Orbit Transfer with Bounded Disturbances

Bassetto,

Mengali,

Abu Salem

et al. 2023

The aim of this paper is to analyze the performance of a state-feedback guidance law, which is obtained through a classical sliding mode control approach, in a two-dimensional circle-to-circle orbit transfer of a spacecraft equipped with a continuous-thrust propulsion system. The paper shows that such an inherently robust control technique can be effectively used to obtain possible transfer trajectories even when the spacecraft equations of motion are affected by perturbations. The problem of the guidance law design is first addressed in the simplified case of an unperturbed system, where it is shown how the state-feedback control may be effectively used to obtain simple mathematical relationships and graphs that allow the designer to determine possible transfer trajectories that depend on a few control parameters. It is also shown that a suitable combination of the controller parameters may be exploited to obtain trade-off solutions between the flight time and the transfer velocity change. The simplified control strategy is then used to investigate a typical heliocentric orbit raising/lowering in the presence of bounded disturbances and measurement errors.

“…At present, the available hydraulic manipulator motion control methods are the modelfree control and the model-based control. The model-free control includes PID control [6], neural network control [7], fuzzy control [8,9], and so on. Lee [10] proposed an adaptive PID control with the advantages of the adaptive time-delay control.…”

Section: Introductionmentioning

confidence: 99%

High-Precision and Modular Decomposition Control for Large Hydraulic Manipulators

Ding,

Liu,

et al. 2023

It is difficult to achieve a high-precision motion control in hydraulic manipulators due to their structural redundancy, strong coupling of closed-chain structures, and flow–pressure coupling. In this paper, a high-precision motion control method for hydraulic manipulators is proposed based on the traditional virtual decomposition control (VDC). The method proposed avoids an excessive virtual decomposition of the hydraulic manipulator and requires fewer model parameters than the traditional VDC. Further, the control precision improved by combining an adaptive real-time update of the inertial parameters. Compared with MBC, the proposed control method improved the motion accuracy of the hydraulic manipulator by more than 40% and 20% under elliptical and triangular trajectories. The simulation results showed that the proposed control method reduced the maximum position errors in Cartesian space by 90.4%, 86.8%, 23.6%, and 44.3% compared with PID and model-based control (MBC) in the absence of disturbances. The maximum position error in Cartesian space was reduced by 76.5% compared with that of MBC in a simulation with external disturbances. It can be seen from all the simulation results that with the proposed control method, the position error of the manipulator was less than 50 mm. The proposed control method effectively improved the motion precision of the examined hydraulic manipulator.