Hostname: page-component-78c5997874-t5tsf Total loading time: 0 Render date: 2024-11-16T19:18:47.220Z Has data issue: false hasContentIssue false
  • English
  • Français

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]
Get access Rights & Permissions [Opens in a new window]

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Moosavian, S. A. A. and Papadopoulos, E., “Free-flying robots in space: an overview of dynamics modeling, planning and control,” Robotica 25(5), 537–547 (2007).CrossRefGoogle Scholar
Flores-Abad, A., Ma, O., Pham, K. and Ulrich, S., “A review of space robotics technologies for on-orbit serving,” Prog. Aerosp. Sci. 68, 1–26 (2014).CrossRefGoogle Scholar
Shan, M., Guo, J. and Gill, E., “Review and comparison of active space debris capturing and removal methods,” Prog. Aerosp. Sci. 80, 18–32 (2016).CrossRefGoogle Scholar
Li, W.-J., Cheng, D.-Y., Liu, X.-G., Wang, Y.-B., Shi, W.-H., Tang, Z.-X., Gao, F., Zeng, F.-M., Chai, H.-Y., Luo, W.-B., Cong, Q. and Gao, Z.-L., “On-orbit service (OOS) of spacecraft: A review of engineering developments,” Prog. Aerosp. Sci. 108, 32–120 (2019).CrossRefGoogle Scholar
Hirzinger, G., Landzettel, K., Brunner, B., Fischer, M., Preusche, C., Reintsema, D., Albu-Schäffer, A., Schreiber, G. and Steinmetz, B.-M., “DLR’s robotics technologies for on-orbit servicing,” Adv. Robot. 18(2), 139–174 (2004).CrossRefGoogle Scholar
Yoshida, K., “Engineering Test Satellite VII flight experiments for space robot dynamics and control: theory on laboratory test beds ten years ago, now in orbit,” Int. J. Robot. Res. 22(5), 321–335 (2003).CrossRefGoogle Scholar
Parlaktuna, O. and Ozkan, M., “Adaptive control of free-floating space manipulators using dynamically equivalent manipulator model,” Robot. Auton. Syst. 46(3), 185–193 (2004).CrossRefGoogle Scholar
Huang, P., Xu, Y. and Liang, B., “Dynamic balance control of multi-arm free-floating space robots,” Int. J. Adv. Robot. Syst. 2(2), 117–124 (2005).CrossRefGoogle Scholar
Khaloozadeh, H. and Homaeinejad, M. R., “Real-time regulated sliding mode controller design of multiple manipulator space free-flying robot,” J. Mech. Sci. Technol. 24(6), 1337–1351 (2010).CrossRefGoogle Scholar
Pazelli, T. F. P. A. T., Terra, M. H. and Siqueira, A. A. G., “Experimental investigation on adaptive robust controller designs applied to a free-floating space manipulator,” Control Eng. Pract. 19(4), 395–408 (2011).CrossRefGoogle Scholar
Zhang, W., Ye, X., Jiang, L., Zhu, Y., Ji, X. and Hu, X., “Output feedback control for free-floating space robotic manipulators base on adaptive fuzzy neural network,” Aerosp. Sci. Technol. 29(1), 135–143 (2013).CrossRefGoogle Scholar
Kumar, N., Panwar, V., Borm, J.-H., Chai, J. and Yoon, J., “Adaptive neural controller for space robot system with an attitude controlled base,” Neural Comput. Appl. 23(7–8), 2333–2340 (2013).CrossRefGoogle Scholar
Yang, H., Yu, Y., Yuan, Y. and Fan, X., “Back-stepping control of two-link flexible manipulator based on an extended state observer,” Adv. Space Res. 56(10), 2312–2322 (2015).CrossRefGoogle Scholar
Jayakody, H. S., Shi, L., Katupitiya, J. and Kinkaid, N., “Robust adaptive coordination controller for a spacecraft equipped with a robotic manipulator,” J. Guid. Control Dyn. 39(12), 2699–2711 (2016).CrossRefGoogle Scholar
Rybus, T., Seweryn, K. and Sasiadek, J. Z., “Control system for free-floating space manipulator based on nonlinear model predictive control (NMPC),” J. Intell. Robot. Syst. 85(3–4), 491–509 (2017).CrossRefGoogle Scholar
Yu, X. and Chen, L., “Observer-based two-time scale robust control of free-flying flexible-joint space manipulators with external disturbances,” Robotica 35(11), 2201–2217 (2017).CrossRefGoogle Scholar
Shi, L., Kayastha, S. and Katupitiya, J., “Robust coordinated control of a dual-arm space robot,” Acta Astronaut. 138, 475–489 (2017).CrossRefGoogle Scholar
Zhu, Y., Qiao, J. and Guo, L., “Adaptive sliding mode disturbance observer-based composite control with prescribed performance of space manipulators for target capturing,” IEEE Trans. Ind. Electron. 66(3), 1973–1983 (2019).CrossRefGoogle Scholar
Seddaoul, A. and Saaj, C. M., “Combined nonlinear H ∞ controller for a controlled-floating space robot,” J. Guid. Control Dyn. 42(8), 1878–1885 (2019).CrossRefGoogle Scholar
Zhao, X., Xie, Z., Yang, H. and Liu, J., “Minimum base disturbance control of free-floating space robot during visual servoing pre-capturing process,” Robotica 38(4), 652–668 (2020).CrossRefGoogle Scholar
Xie, Z., Sun, T., Kwan, T. and Wu, X., “Motion control of a space manipulator using fuzzy sliding mode control with reinforcement learning,” Acta Astronaut. 176, 156–172 (2020).CrossRefGoogle Scholar
Yao, Q., “Adaptive trajectory tracking control of a free-flying space manipulator with guaranteed prescribed performance and actuator saturation,” Acta Astronaut. 185, 283–298 (2021).CrossRefGoogle Scholar
Yao, Q., “Adaptive fuzzy neural network control for a space manipulator in the presence of output constraints and input nonlinearities,” Adv. Space Res. 67(6), 1830–1843 (2021).CrossRefGoogle Scholar
Yu, X., “Hybrid-trajectory based terminal sliding mode control of a flexible space manipulator with an elastic base,” Robotica 38(3), 550–563 (2020).CrossRefGoogle Scholar
Jia, S. and Shan, J., “Finite-time trajectory tracking control of space manipulator under actuator saturation,” IEEE Trans. Ind. Electron. 67(3), 2086–2096 (2020).CrossRefGoogle Scholar
Shao, X., Sun, G., Xue, C. and Li, X., “Nonsingular terminal sliding mode control for free-floating space manipulator with disturbance,” Acta Astronaut. 181, 396–404 (2021).CrossRefGoogle Scholar
Andrieu, C., Praly, L. and Astolfi, A., “Homogeneous approximation, recursive observer design, and output feedback,” SIAM J. Control Optim. 47(4), 1814–1850 (2008).CrossRefGoogle Scholar
Cruz-Zavala, E., Moreno, J. A. and Fridman, L. M., “Uniform robust exact differentiator,” IEEE Trans. Autom. Control 56(11), 2727–2733 (2011).CrossRefGoogle Scholar
Polyakov, A., “Nonlinear feedback design for fixed-time stabilization of linear control systems,” IEEE Trans. Autom. Control 57(8), 2106–2110 (2012).CrossRefGoogle Scholar
Zuo, Z., “Nonsingular fixed-time consensus tracking for second-order multi-agent networks,” Automatica 54, 305–309 (2015).CrossRefGoogle Scholar
Zhao, D., Kong, L., Zhang, S., Li, Q. and Fu, Q., “Neural networks-based fixed-time control for a robot with uncertainties and input deadzone,” Neurocomputing 390, 139–147 (2020).Google Scholar
Su, Y., Zheng, C. and Mercorelli, P., “Robust approximate fixed-time tracking control for uncertain robot manipulators,” Mech. Syst. Signal Process. 135, 106379 (2020).CrossRefGoogle Scholar
Van, M. and Ceglarek, D., “Robust fault tolerant control of robot manipulators with global fixed-time convergence,” J. Frankl. Inst. 358(1), 699–722 (2021).CrossRefGoogle Scholar
Liu, L., Zhang, L., Wang, Y. and Hou, Y., “A novel robust fixed-time fault-tolerant tracking control of uncertain robot manipulators,” IET Control Theory Appl. 15(2), 195–208 (2021).CrossRefGoogle Scholar
Zhang, L., Liu, H., Tang, D., Hou, Y. and Wang, Y., “Adaptive fixed-time fault-tolerant tracking control and its application for robot manipulators,” IEEE Trans. Ind. Electron. 69(3), 2956–2966 (2022).CrossRefGoogle Scholar
Slotine, J.-J. E. and Li, W., Adaptive Nonlinear Control (Englewood Cliffs, Prentice-Hall, NJ, 1991).Google Scholar
Yue, X., Zhang, T., Dai, H., Ning, X. and Yuan, J., “Postcapture stabilization of space robots considering actuator failures with bounded torques,” Chin. J. Aeronaut. 31(10), 2034–2048 (2018).CrossRefGoogle Scholar
Chen, G., Yuan, B., Jia, Q., Sun, H. and Guo, W., “Failure tolerance strategy of space manipulator for large load carrying tasks,” Acta Astronaut. 148, 186–204 (2018).CrossRefGoogle Scholar
Lei, R.-H. and Chen, L., “Adaptive fault-tolerant control based on boundary estimation for space robot under joint actuator faults and uncertain parameters,” Def. Technol. 15(6), 964–971 (2019).CrossRefGoogle Scholar
Jia, Q., Yuan, B., Chen, G. and Fu, Y., “Adaptive fuzzy terminal sliding mode control for the free-floating space manipulator with free-swinging joint failure,” Chin. J. Aeronaut. 34(9), 178–198 (2021).Google Scholar