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Disturbance observer-based robust fixed-time integrated trajectory tracking control for space manipulator

Published online by Cambridge University Press:  24 February 2022

Qijia Yao Open the ORCID record for Qijia Yao [Opens in a new window]
Qijia Yao*
Affiliation:
School of Aerospace Engineering, Beijing Institute of Technology, Beijing100081, China
*
E-mail: [email protected]
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Abstract

This article investigates the fixed-time trajectory tracking control of a free-flying rigid space manipulator perturbed by model uncertainties and external disturbances. A novel robust fixed-time integrated controller is developed by integrating a nominal fixed-time proportional–differential-like controller with a fixed-time disturbance observer. It is strictly proved that the proposed controller can ensure the position and velocity tracking errors regulate to zero in fixed time even subject to lumped disturbance. Benefiting from the feedforward compensation, the proposed controller has the strong robustness and excellent disturbance attenuation capability. The effectiveness and advantages of the proposed control approach are validated through simulations and comparisons.

Keywords

space manipulatortrajectory tracking controlfixed-time controlrobust controlfixed-time disturbance observer
Type
Research Article
Information
Robotica , Volume 40 , Issue 9 , September 2022 , pp. 3214 - 3232
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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