A backstepping robust control method for free-floating space robot system with dual-arms

2011 ◽  
Author(s):  
Xiaoteng Tang ◽  
Cheng-kun Tang ◽  
Hongzhe Li
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Space Robot ◽  
Robot System

scholarly journals Adaptive robust control for free-floating space robot with unknown uncertainty based on neural network

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881151
Author(s):  
Zhang Wenhui ◽  
Li Hongsheng ◽  
Ye Xiaoping ◽  
Huang Jiacai ◽  
Huo Mingying
Keyword(s):  
Neural Network ◽  
Mathematical Model ◽  
Robust Control ◽  
Control Method ◽  
External Disturbance ◽  
Adaptive Robust Control ◽  
Lyapunov Theory ◽  
Space Robot ◽  
Neural Network Controller ◽  
The Stability

It is difficult to obtain a precise mathematical model of free-floating space robot for the uncertain factors, such as current measurement technology and external disturbance. Hence, a suitable solution would be an adaptive robust control method based on neural network is proposed for free-floating space robot. The dynamic model of free-floating space robot is established; a computed torque controller based on exact model is designed, and the controller can guarantee the stability of the system. However, in practice, the mathematical model of the system cannot be accurately obtained. Therefore, a neural network controller is proposed to approximate the unknown model in the system, so that the controller avoids dependence on mathematical models. The adaptive learning laws of weights are designed to realize online real-time adjustment. The adaptive robust controller is designed to suppress the external disturbance and compensate the approximation error and improve the robustness and control precision of the system. The stability of closed-loop system is proved based on Lyapunov theory. Simulations tests verify the effectiveness of the proposed control method and are of great significance to free-floating space robot.

Self-Adaptive Robust Control of Joint Robots for Modeling Error

2013 ◽  
Vol 422 ◽  
pp. 226-231
Author(s):  
Peng Su ◽  
Yang Yang
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Model Error ◽  
Stability Control ◽  
Adaptive Robust Control ◽  
Robot Dynamics ◽  
Robot System ◽  
Precise Control ◽  
Well Efficiency ◽  
Self Adaptive

For joint robot system contains inevitable model error in the modeling process, an effective method is proposed for self-adaptive stability control in this paper. After building the robot dynamics model, error factors are analyzed in the model. Based on robust control theory, an improved self-adaptive PID controller is designed and its Lyapunov stability is verified. Finally, by simulation for a two-link manipulator, the result which shows the control method has well efficiency and practicality for robust stability control. The results will be significant for the precise control of the robot system.

scholarly journals Dynamic Balance Control of Multi-Arm Free-Floating Space Robots

10.5772/5797 ◽  
2005 ◽  
Vol 2 (2) ◽  
pp. 13 ◽  
Author(s):  
Panfeng Huang ◽  
Yangsheng Xu ◽  
Bin Liang
Keyword(s):  
Control Method ◽  
Balance Control ◽  
Dynamic Balance ◽  
Space Robot ◽  
Simulation Studies ◽  
Active Object ◽  
Robot System ◽  
Close Proximity ◽  
Control Concept ◽  
The Given

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robot system. Such a disturbance will produce a serious impact between the manipulator hand and the object. To ensure reliable and precise operation, we propose to develop a space robot system consisting of two arms, with one arm (mission arm) for accomplishing the capture mission, and the other one (balance arm) compensating for the disturbance of the base. We present the coordinated control concept for balance of the attitude of the base using the balance arm. The mission arm can move along the given trajectory to approach and capture the target with no considering the disturbance from the coupling of the base. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the validity and efficiency of the proposed control method.

scholarly journals Accurate motion regeneration technique with robust control approach

2015 ◽  
Vol 18 (3) ◽  
pp. 183-191 ◽  
Author(s):  
Dac-Chi Dang ◽  
Young-Bok Kim
Keyword(s):  
Robust Control ◽  
Pid Control ◽  
Control Method ◽  
Small Scale ◽  
Robot Motion ◽  
Robot System ◽  
Inertia Moment ◽  
Control Approach ◽  
Small Scale Industries ◽  
Designing Method

In this paper, the authors propose a new method of easily recognizing and regenerating robot motions used for robot motion control to perform the task of painting furniture and welding parts in small scale industries. The method is based on the process of accurate modeling, control design and experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. The Robust control controller is designed to cope with uncertainties, especially the effects of the added inertia moment. In the experiment, the robust control method is compared with the existing PID control method, and the results indicate that the proposed designing method is more efficient than the traditional method.

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