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Tong Li,Qingxuan Jia,Gang Chen,Hanxu Sun 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.6
In order to improve the motion reliability of space manipulator during its long time service on-orbit, multiple indexes which can reflect the motion performance and multiple factors (control variables of manipulator) which have influence on motion reliability are involved in establishing an optimization control model. Thus the problem of motion reliability improvement is expressed as an multiple-objective problem (MOP). In order to solve the MOP, dimension reduction strategy is proposed based on covariance matrix of motion reliability indexes. As a result, the MOP is turned into single objective problem. Then control variables are optimized based on null space of space manipulator, and the best weight matrix can be obtained when the objective is minimal. Simulations are carried out to verify the feasibility and effectiveness of the optimization control strategy. By decreasing the error introduction into the control variables, the motion reliability can be effectively improved.
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Stabilization Control for Spacecraft-manipulator System After Capturing Tumbling Target
Rui Chang,Qingxuan Jia,Ming Chu 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.11
Non-cooperative target capturing is a great challenge for space robots among space tasks, because of the difficulty of target detumbling and base stability maintaining, which increasing the requirements for the control performances of the attitude control systems. In this paper, a contact force model combining an optimized Hertz’s model and the LuGre friction model is established, to estimate the contact force without additional sensors. And a novel control methodology for stabilization control of space robot based on an adaptive backstepping nonsingular fast integral terminal sliding mode control (ABNFITSMC) is developed, which significantly improve the convergence speed and satisfied the requirements of robustness of the complex system after capturing. First, the fully controllable dynamic model of the free-flying (no position control) space robot is established by using the Lagrange method. Then, the contact force between the end effector (gripper) and the target is analyzed by combining modified Hertz model and the LuGre friction model. Finally, a novel nonsingular fast integral terminal sliding mode (NFITSM) surface is proposed, so a finite-time convergence, non-singularity, fast transient response, precise trajectory tracking, robustness with uncertainties and disturbances is achieved. Then, an adaptive control law is used to approximate the upper bound value of the disturbance and uncertainties, and a backstepping control method is employed to guaranty the global asymptotic stability of the control system. The numerical simulation results show that the proposed algorithm can stable the attitude of the space robot in a quick limited time, and reduce the chattering significantly compared to the traditional sliding surface, the results demonstrates the superior performance of the proposed approach., and proves the feasibility of its application in non-cooperative target capturing task.
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