.png){kind=icon}
返回
Adaptive Controller Based on Spatial Disturbance Observer in a Microgravity Environment
.png){kind=icon}
OA
AI
DOI：10.3390/s19214759.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
In this paper, a new controller for an operating manipulator work in the space microgravity environment is proposed. First, on the basis of the load variation caused by microgravity, a sliding mode control method is used to model the gravity term, and the logistic function is introduced as the approaching function. An improved sliding mode reaching law is proposed to control the manipulator effectively, and Lyapunov theory is used to deduce its closed-loop stability. A friction compensation scheme, which regards friction as disturbance, is introduced to the microgravity environment, and a space disturbance observer (SDO) is designed from the viewpoint of disturbance suppression to identify the friction characteristics of the control system accurately. To model the lagging friction phenomenon caused by velocity inversion during operation tasks, an adaptive compensation scheme based on the LuGre model is proposed. Finally, the design of a manipulator system, which consists of a robot arm, dexterous hand, teleoperation system, central controller, and visual system, is presented. On-orbit maintenance and capture experiments are carried out successively. The effectiveness and reliability of the controller are verified, and the on-orbit operation tasks are completed successfully.
Keyword:
space manipulator
central controller
gravity compensation
spatial disturbance observer
friction compensator
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
3.5
论文数:
7.2W
被引数:
20.9W
机构
引用论文
An integrated friction model structure with improved presliding behavior for accurate friction compensation具有改进的预摩擦行为的集成摩擦模型结构，可实现精确的摩擦补偿
OAAI
OAAI分享收藏Synthesis of 5-aminolevulinic acid with nontoxic regents and renewable methyl levulinate.png)
RSC AdvancesOAAI
RSC AdvancesIF0
OAAI分享收藏Observer-based adaptive sliding mode control for nonlinear Markovian jump systemsAUTOMATICA
AUTOMATICAIF5.9
PREAI
分享收藏
查看更多内容