.png){kind=icon}
返回
Observer-based fixed-time tracking control for space robots in task space
.png){kind=icon}
PRE
AI
DOI：10.1016/j.actaastro.2021.04.002.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
The problem of task-space tracking control of a free-floating space robot is addressed in this paper. Based on a fixed-time extended state observer (FXESO), a fixed-time position and attitude control (FXPAC) method is developed. The attitude of the end-effector is represented in modified Rodrigues parameters (MRPs). The FXESO provides the estimation of the joint velocity and the lumped disturbance for the control system. Based on the backstepping technique and a power integrator, the FXPAC method is designed. This control scheme can guarantee tracking errors converging to a neighborhood of the origin within a fixed time in the presence of the external disturbance. Moreover, since the inverse of the generalized Jacobian matrix is involved in the controller, it is necessary to consider dynamic singularities. To handle these singularities, a method of combining the singularity separation and damped reciprocal (SSDR) is applied to the space robot. Numerical simulations are presented to demonstrate the effectiveness of the proposed method.
Keyword:
Fixed-time position and attitude control (FXPAC)
Fixed-time extended state observer (FXESO)
Space robot
Dynamic singularity
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:
3.4
论文数:
1.1W
被引数:
2.1W
机构
引用论文
Economic analysis of the 1992–1993 mass immunization campaign against serogroup C meningococcal disease in Quebec.png)
Vaccine
VaccineIF0
PREAI
分享收藏Composite learning control of robotic systems: A least squares modulated approachAUTOMATICA
AUTOMATICAIF5.9
PREAI
分享收藏
Global fixed-time attitude tracking control for the rigid spacecraft with actuator saturation and faultsACTA ASTRONAUTICA
ACTA ASTRONAUTICAIF3.4
PREAI
分享收藏Motion control of a space manipulator using fuzzy sliding mode control with reinforcement learningACTA ASTRONAUTICA
ACTA ASTRONAUTICAIF3.4
PREAI
分享收藏Adaptive sliding mode disturbance rejection control with prescribed performance for robotic manipulators具有规定性能的机器人自适应滑模扰动抑制控制ISA TRANSACTIONS
ISA TRANSACTIONSIF6.5
PREAI
分享收藏
查看更多内容