An adaptive variable structure control of the robot satellite system with floating base in Cartesian space

Abstract

Aiming at the non-parametric and time-varying parametric uncertainty problems such as the external disturbances, smooth parameter variations and jump parameter changes existing in the robot satellite system with floating base, an adaptive variable structure trajectory tracking control method in Cartesian space is proposed. The dynamics equation in joint space of the robot satellite system with floating base is established based on the extended manipulator model, and the dynamics model of the system in Cartesian space is derived considering external disturbances to the manipulator and the base simultaneously. An adaptive variable structure controller is designed by adopting the composite adaptive control combined with variable structure control under the condition that the bounds of external disturbances and parameter variations are unknown, and the robustness analysis of the controller is performed. The simulation of a two-link planar robot satellite system with floating base adopting the control method presented is implemented. The simulation result shows that the end-effector of the robot satellite with floating base has a good capability of trajectory tracking in Cartesian space.

Keywords

Adaptive control stability dynamics robotics robust design

Get full access to this article

View all access options for this article.

References

Ellery

. An engineering approach to the dynamic control of space robotic on-orbit servicers. Proc IMechE, Part G: J Aerospace Engineering 2004; 218: 79–98.

Lennon JA, Henshaw CG and Purdy W. An architecture for autonomous control of a robotic satellite grappling mission. In: AIAA guidance, navigation and control conference and exhibit, Honolulu, HI, USA, 2008, pp.1–8. Reston, VA: AIAA.

Dubowsky

Papadopoulos

. The kinematics, dynamics, and control of free-flying and free-floating space robotic systems. IEEE Trans Rob Autom 1993; 9: 531–543.

Wang

. Study on non-holonomic Cartesian path planning of a free-floating space robotic system. Adv Rob 2009; 23: 113–143.

Diftler MA. Robonaut 2-the first humanoid robot in space. Robotics and automation, ICRA 2011. In: Proceedings of the 2011 IEEE international conference on IEEE, Anchorage, Alaska, USA, 2011, pp.2178–2183. Piscataway, NJ: IEEE.

Yoshida

. Achievements in space robotics. IEEE Rob Autom Mag 2009; 16: 20–28.

Moosavian

Papadopoulos

. Free-flying robots in space: an overview of dynamics modeling, planning and control. Robotica 2007; 25: 537–547.

Woerkom

Guelman

Ehrenwald

. Integrated adaptive control of space manipulators. Acta Astronaut 1996; 38: 161–174.

Dwivedy

Eberhard

. Dynamic analysis of flexible manipulators, a literature review. Mech Mach Theory 2006; 41: 749–777.

10.

Kanade

Lee

. Parameterization control of space and adaptive robot system. IEEE Trans Aerosp Electron Syst 1994; 30: 435–451.

11.

Torres S, Méndez JA, Acosta L, et al. Efficient control of robot manipulators with model disturbances. Decision and control, CDC 2006. In: Proceedings of the 45th IEEE conference on IEEE, San Diego, CA, USA, 2006, pp.2931–2936. Piscataway, NJ: IEEE.

12.

Umetani

Yoshida

. Resolved motion rate control of space manipulators with generalized Jacobian matrix. IEEE Trans Rob Autom 1989; 5: 303–314.

13.

. A normal form augmentation approach to adaptive control of space robot systems. Dyn Control 1995; 5: 275–294.

14.

Parlaktuna

Ozkan

. Adaptive control of free-floating space robots in Cartesian coordinates. Adv Rob 2004; 18: 943–959.

15.

Slotine

. On the adaptive control of robot manipulators. Int J Rob Res 1987; 6: 49–59.

16.

Reed JS and Ioannou PA. Instability analysis and robust adaptive control of robotic manipulators. Decision and control, CDC 1988. In: Proceedings of the 27th conference on IEEE, Austin, Texas, USA, 1988, pp.1607–1612. Piscataway, NJ: IEEE.

17.

Moosavian SA and Homaeinejad MR. Control of space free-flying robots using regulated sliding mode controller, IROS 2006. In: Proceedings of the IEEE/RSJ international conference on IEEE, Beijing, China, 2006, pp.3131–3136. Piscataway, NJ: IEEE.

18.

Burkan

. Upper bounding estimation for robustness to the parameter uncertainty with trigonometric function in trajectory control of robot arms. J Intell Rob Syst 2006; 46: 263–283.

19.

You S and Hall J. Model-based approach with adaptive bounds of robust controllers for robot manipulators. In: Proceedings of the IEEE international conference on systems, man and cybernetics, 1994, pp.1279–1284. Piscataway, NJ: IEEE.

20.

Ortega

Tang

. Robustness of adaptive controllers – a survey. Automatica 1989; 25: 651–677.

21.

Desoer

Vidyasagar

. Feedback systems: input–output properties, Pennsylvania: SIAM, 1975, pp. 102–103.

22.

Franklin

. Matrix theory, New Jersey: Prentice Hall, 1968, pp. 141–145.