Impact Dynamic Modeling and Adaptive Target Capturing Control for Tethered Space Robots With Uncertainties
文献类型:期刊
作者:Huang, Panfeng[1] Wang, Dongke[2] Meng, Zhongjie[3] Zhang, Fan[4] Liu, Zhengxiong[5]
机构:[1]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[2]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China |28th Research Institute, China Electronics Technology Corporation, Nanjing, 210007, China
[3]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[4]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[5]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Peoples R China.; Huang, PF (reprint author), Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Peoples R China.
年:2016
期刊名称:IEEE-ASME TRANSACTIONS ON MECHATRONICS
影响因子和分区 卷:21
期:5
页码范围:2260-2271
增刊:正刊
学科:工程学
收录情况:SCI(E)(WOS:000382472600006) EI(20163502753779) ESI高被引论文(000382472600006) ESI热点论文(000382472600006)
所属部门:航天学院
重要成果类型:ESI热点;ESI高被引
语言:外文
ISSN:1083-4435
人气指数:338
浏览次数:331
基金:National Natural Science Foundation of China [11272256, 60805034,
61005062]
关键词:Adaptive control; impedance control; target capturing; tethered space
robot (TSR)
摘要:Target capturing is an essential and key mission for tethered space robot (TSR) in future on-orbit servicing, and it is quite meaningful to investigate the stabilization method for TSR during capture impact with target. In this paper, the stabilization control of TSR during target capturing is studied. The space tether is described by the lumped mass model, and the impact dynamic model for target capturing is derived using the Lagrange method with the consideration of space tether length, in/out
...MoreTarget capturing is an essential and key mission for tethered space robot (TSR) in future on-orbit servicing, and it is quite meaningful to investigate the stabilization method for TSR during capture impact with target. In this paper, the stabilization control of TSR during target capturing is studied. The space tether is described by the lumped mass model, and the impact dynamic model for target capturing is derived using the Lagrange method with the consideration of space tether length, in/out-plane angles, and gripper attitude. Given the structure of the TSR's gripper, a position-based impedance control method is proposed for target capturing operation. The neural network is used to estimate and compensate the uncertainties in the dynamic model of TSR, and an adaptive robust controller is designed to overcome the influence of the space tether and track the desired position generated by impedance controller. Numerical simulations suggest that the proposed controller can realize the stabilization of TSR during target capturing; besides, the uncertainties of the TSR can effectively be compensated via adaptive law and the influence of the space tether can be suppressed via the robust control strategy, which lead to smaller overshoot, less convergence time, and higher control accuracy during capturing operation.
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数据加载中...
年度:2019 影响因子:5.673
中科院分区:
年度 |
一级学科 |
一级分区 |
二级学科 |
二级分区 |
2019 |
工程技术 |
2区 |
AUTOMATION & CONTROL SYSTEMS自动化与控制系统 |
2区 |
2019 |
工程技术 |
2区 |
ENGINEERING, ELECTRICAL & ELECTRONIC工程:电子与电气 |
2区 |
2019 |
工程技术 |
2区 |
ENGINEERING, MANUFACTURING工程:制造 |
2区 |
2019 |
工程技术 |
2区 |
ENGINEERING, MECHANICAL工程:机械 |
1区 |
JCR分区:
年度 |
学科 |
分区 |
2019 |
AUTOMATION & CONTROL SYSTEMS |
Q1 |
2019 |
ENGINEERING, ELECTRICAL & ELECTRONIC |
Q1 |
2019 |
ENGINEERING, MANUFACTURING |
Q1 |
2019 |
ENGINEERING, MECHANICAL |
Q1 |
航天学院 黄攀峰
航天学院 黄攀峰
航天学院 孟中杰
航天学院 孟中杰
航天学院 王东科
航天学院 王东科
航天学院 刘正雄
航天学院 刘正雄
dc:title:Impact Dynamic Modeling and Adaptive Target Capturing Control for Tethered Space Robots With Uncertainties
dc:creator:Huang, Panfeng;Wang, Dongke;Meng, Zhongjie,等
dc:date: publishDate:2016-10-01
dc:type:期刊
dc:format: Media:IEEE-ASME TRANSACTIONS ON MECHATRONICS
dc:identifier: LnterrelatedLiterature:IEEE-ASME TRANSACTIONS ON MECHATRONICS.2016,21(5),2260-2271.
dc:identifier:DOI:10.1109/TMECH.2016.2569466
dc: identifier:ISBN:1083-4435