Hostname: page-component-848d4c4894-4rdrl Total loading time: 0 Render date: 2024-06-23T10:53:50.207Z Has data issue: false hasContentIssue false
  • English
  • Français

Fixed-time control for free-floating space manipulators with prescribed constraints and input saturation

Published online by Cambridge University Press:  20 October 2023

Y.X. Yan Open the ORCID record for Y.X. Yan [Opens in a new window] ,
H.T. Cui  and
P. Han
Y.X. Yan*
Affiliation:
Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin, China
H.T. Cui
Affiliation:
Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin, China School of Civil Engineering, Harbin Institute of Technology, Harbin, China
P. Han
Affiliation:
School of Civil Engineering, Harbin Institute of Technology, Harbin, China
*
Corresponding author: Y.X. Yan; Email: yanyxhit@126.com
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper investigates the issue of tracking control for a free-floating space manipulator with prescribed performance constraints, considering the inertia uncertainties, internal disturbances and input saturation. An inherently continuous adaptive controller is proposed by incorporating non-singular fixed-time sliding mode control, prescribed performance control (PPC), and auxiliary compensation. First, a modified non-singular fast fixed-time terminal sliding surface is constructed, which has a shorten convergence time than the conventional fixed-time sliding surface. Unlike the existing complicated PPCs, a simple structure controller is developed to satisfy prescribed performance constraints through a unique tangent-type PPC technique. The input saturation is then compensated adaptively by an auxiliary mechanism. The Lyapunov theory thoroughly validates the stability and fixed-time convergence of the closed-loop tracking system. With the suggested control scheme, the system states can converge quickly to a small neighbourhood around the origin within a preassigned time, while the position tracking error can be confined within a prescribed performance bounds even in the presence of input saturation. Compared to the existing tracking methods, the suggested control approach has the advantages of faster transient convergence, higher steady-state tracking precision, and stronger robustness. Simulation comparisons demonstrate the effectiveness and superiority of the proposed controller.

Keywords

space manipulatortrajectory trackingPPCsliding mode control
Type
Research Article
Information
The Aeronautical Journal , Volume 128 , Issue 1324 , June 2024 , pp. 1219 - 1244
Copyright
© The Author(s), 2023. Published by Cambridge University Press on behalf of Royal Aeronautical Society

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Flores Abad, A., Ma, O., Pham, K. and Ulrich, S. A review of space robotics technologies for on-orbit servicing, Progr. Aerospace Sci., 2014, 68, pp 1–26. CrossRefGoogle Scholar
Rybus, T. Obstacle avoidance in space robotics: Review of major challenges and proposed solutions, Progr. Aerospace Sci., 2018, 101, pp 31–48. CrossRefGoogle Scholar
Wang, H. and Xie, Y. Adaptive Jacobian position/force tracking control of free-flying manipulators, Rob. Auton. Syst., 2009, 57, (2), pp 173–181. CrossRefGoogle Scholar
Nekoo, S.R. Model reference adaptive state-dependent riccati equation control of nonlinear uncertain systems: Regulation and tracking of free-floating space manipulators, Aerospace Sci. Technol., 2019, 84, pp 348–360. CrossRefGoogle Scholar
Jia, Y. and Misra, A.K. Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes, Acta Astronautica, 2017, 137, pp 287–301. CrossRefGoogle Scholar
Seddaoui, A. and Saaj, C.M. Combined nonlinear h $\infty $ controller for a controlled-floating space robot, J. Guid. Control Dyn., 2019, 42, (8), pp 1878–1885. CrossRefGoogle Scholar
Xie, Z., Sun, T., Kwan, T. and Wu, X. Motion control of a space manipulator using fuzzy sliding mode control with reinforcement learning, Acta Astronautica, 2020, 176, pp 156–172. CrossRefGoogle Scholar
Jia, Q., Yuan, B., Chen, G. and Fu, Y. Adaptive fuzzy terminal sliding mode control for the free-floating space manipulator with free-swinging joint failure, Chin. J. Aeronaut., 2021, 34, (9), pp 178–198. Google Scholar
Kumar, N., Panwar, V. and Borm, J. Adaptive neural controller for space robot system with an attitude controlled base, Neural Comput. Appl., 2013, 23, (7-8), pp 2333–2340. CrossRefGoogle Scholar
Yao, Q. Adaptive fuzzy neural network control for a space manipulator in the presence of output constraints and input nonlinearities, Adv. Space Res., 2021, 67, (6), pp 1830–1843. CrossRefGoogle Scholar
Guo, Y.S. and Li, C. Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance, Appl. Math. Mech., 2008, 029, (5), pp 583–590. CrossRefGoogle Scholar
Feng, Y., Yu, X. and Man, Z. Non-singular adaptive terminal sliding mode control of rigid manipulators, Automatica, 2002, 38, pp 2159–2167.Google Scholar
Jia, S. and Shan, J. Finite-time trajectory tracking control of space manipulator under actuator saturation, IEEE Trans. Ind. Electron., 2020, 67, (3), pp 2086–2096. CrossRefGoogle Scholar
Yang, L. and Yang, J., Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems, Int. J. Robust Nonlinear Control, 2011, 21, (16), pp 1865–1879. CrossRefGoogle Scholar
Shao, X., Sun, G., Xue, C. and Li, X., Nonsingular terminal sliding mode control for free-floating space manipulator with disturbance, Acta Astronautica, 2021, 181, pp 396–404. CrossRefGoogle Scholar
Jia, S. and Shan, J. Continuous integral sliding mode control for space manipulator with actuator uncertainties, Aerospace Sci. Technol., 2020, 106, p 106192. CrossRefGoogle Scholar
Polyakov, A. Nonlinear feedback design for fixed-time stabilization of linear control systems, IEEE Trans. Autom. Control, 2012, 57, pp 2106–2110.CrossRefGoogle Scholar
Zuo, Z. Non-singular fixed-time terminal sliding mode control of non-linear systems, IET Control Theory Appl., 2015, 9, (4), pp 545–552. CrossRefGoogle Scholar
Chen, Q., Xie, S. and He, X. Neural-network-based adaptive singularity-free fixed-time attitude tracking control for spacecrafts, IEEE Trans. Cybern., 2021, 51, (10), pp 5032–5045. CrossRefGoogle ScholarPubMed
Esmaeilzadeh, S.M., Golestani, M. and Mobayen, S. Chattering-free fault-tolerant attitude control with fast fixed-time convergence for flexible spacecraft, Int. J. Control Autom. Syst., 2021, 19, pp 767–776. CrossRefGoogle Scholar
Chen, M., Wang, H. and Liu, X. Adaptive fuzzy practical fixed-time tracking control of nonlinear systems, IEEE Trans. Fuzzy Syst., 2021, 29, (3), pp 664–673. CrossRefGoogle Scholar
Jin, R., Rocco, P. and Geng, Y. Observer-based fixed-time tracking control for space robots in task space, Acta Astronautica, 2021, 184, pp 35–45. CrossRefGoogle Scholar
Su, Y., Zheng, C. and Mercorelli, P. Robust approximate fixed-time tracking control for uncertain robot manipulators, Mech. Syst. Signal Process., 2020, 135, p 106379. CrossRefGoogle Scholar
Sai, H., Xu, Z., He, S., Zhang, E. and Zhu, L. Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation, ISA Trans., 2022, 123, pp 46–60. CrossRefGoogle ScholarPubMed
He, W. and Dong, Y. Adaptive fuzzy neural network control for a constrained robot using impedance learning, IEEE Trans. Neural Networks Learn. Syst., 2018, 29, (4), pp 1174–1186. CrossRefGoogle ScholarPubMed
Bechlioulis, C.P. and Rovithakis, G.A. Robust adaptive control of feedback linearizable mimo nonlinear systems with prescribed performance, IEEE Trans. Autom. Control, 2008, 53, (9), pp 2090–2099. CrossRefGoogle Scholar
Ilchmann, A., Ryan, E.P. and Townsend, P. Tracking control with prescribed transient behaviour for systems of known relative degree, Syst. Control Lett., 2006, 55, (5), pp 396–406. CrossRefGoogle Scholar
Kostarigka, A.K., Doulgeri, Z. and Rovithakis, G.A. Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity, Automatica, 2013, 49, (5), pp 1137–1147. CrossRefGoogle Scholar
Psomopoulou, E., Theodorakopoulos, A., Doulgeri, Z. and Rovithakis, G.A. Prescribed performance tracking of a variable stiffness actuated robot, IEEE Trans. Control Syst. Technol., 2015, 23, (5), pp 1914–1926. CrossRefGoogle Scholar
Bu, X., Xiao, Y. and Lei, H., An adaptive critic design-based fuzzy neural controller for hypersonic vehicles: Predefined behavioral nonaffine control, IEEE/ASME Trans. Mechatron., 2019, 24, (4), pp 1871–1881. CrossRefGoogle Scholar
Bu, X., Wu, X., Huang, J. and Wei, D. Robust estimation-free prescribed performance back-stepping control of air-breathing hypersonic vehicles without affine models, Int. J. Control, 2016, 89, (11), pp 2185–2200. CrossRefGoogle Scholar
Bechlioulis, C.P. and Rovithakis, G.A. Decentralized robust synchronization of unknown high order nonlinear multi-agent systems with prescribed transient and steady state performance, IEEE Trans. Autom. Control, 2017, 62, (1), pp 123–134. CrossRefGoogle Scholar
Bu, X., Qi, Q. and Jiang, B. A simplified finite-time fuzzy neural controller with prescribed performance applied to waverider aircraft, IEEE Trans. Fuzzy Syst., 2021, 30, (7), pp 2529–2537. CrossRefGoogle Scholar
Zhou, Z.G., Zhang, Y.A. and Zhou, D. Robust prescribed performance tracking control for free-floating space manipulators with kinematic and dynamic uncertainty, Aerospace Sci. Technol., 2017, 71, pp 568–579. CrossRefGoogle Scholar
Zhu, Y., Qiao, J. and Guo, L. Adaptive sliding mode disturbance observer-based composite control with prescribed performance of space manipulators for target capturing, IEEE Trans. Ind. Electron., 2019, 66, pp 1973–1983. CrossRefGoogle Scholar
Lu, X. and Jia, Y. Adaptive coordinated control of uncertain free-floating space manipulators with prescribed control performance, Nonlinear Dyn., 2019, 97, (2), pp 1541–1566. CrossRefGoogle Scholar
Ma, H., Zhou, Q., Li, H. and Lu, R. Adaptive prescribed performance control of a flexible-joint robotic manipulator with dynamic uncertainties, IEEE Trans. Cybern., 2021, 52, (12), pp 12905–12915. CrossRefGoogle Scholar
Xu, B., Ji, S., Zhang, C., Chen, C., Ni, H. and Wu, X. Linear-extended-state-observer-based prescribed performance control for trajectory tracking of a robotic manipulator, Ind. Robot Int. J. Rob. Res. Appl., 2021, 48, (4), pp 544–555. CrossRefGoogle Scholar
An, S.Y., Chen, M., Wang, H.Q. and Wu, L.B. Fast finite-time dynamic surface tracking control of a single-joint manipulator system with prescribed performance, Int. J. Syst. Sci., 2021, 52, (8), pp 1551–1563. CrossRefGoogle Scholar
Huang, Y. and Jia, Y. Adaptive fixed-time relative position tracking and attitude synchronization control for non-cooperative target spacecraft fly-around mission, J. Franklin Inst., 2017, 354, (18), pp 8461–8489. CrossRefGoogle Scholar
Ni, J., Liu, L., Liu, C., Hu, X. and Li, S. Fast fixed-time nonsingular terminal sliding mode control and its application to chaos suppression in power system, IEEE Trans. Circuits Syst. II Express Briefs, 2017, 64, (2), pp 151–155. Google Scholar
Zuo, Z. and Tie, L. A new class of finite-time nonlinear consensus protocols for multi-agent systems, Int. J. Control, 2014, 87, (2), pp 363–370. CrossRefGoogle Scholar
Wang, Z., Sun, Y. and Liang, B. Synchronization control for bilateral teleoperation system with position error constraints: A fixed-time approach, ISA Trans., 2019, 93, pp 125–136. CrossRefGoogle ScholarPubMed
Spong, M., Hutchinson, S., Vidyasagar, M. and Skaar, S.B. Robot modeling and control, IEEE Trans. Autom. Control, 2007, 52, pp 378–379. Google Scholar
Zhai, J. and Xu, G. A novel non-singular terminal sliding mode trajectory tracking control for robotic manipulators, IEEE Trans. Circuits Syst. II Express Briefs, 2021, 68, (1), pp 391–395. Google Scholar
Ik Han, S. and Lee, J. Finite-time sliding surface constrained control for a robot manipulator with an unknown deadzone and disturbance, ISA Trans., 2016, 65, pp 307–318. CrossRefGoogle ScholarPubMed
Zhang, Y., Tang, S. and Guo, J. Adaptive terminal angle constraint interception against maneuvering targets with fast fixed-time convergence, Int. J. Robust Nonlinear Control, 2018, 28, (8), pp 2996–3014. CrossRefGoogle Scholar