TY - GEN
T1 - Adaptive-Control of Controlled Floating Space Robots Based on Fully-Actuated System Theory
AU - Yuan, Shengze
AU - Yuan, Shuai
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - As human exploration of extraterrestrial space deepens, traditional space robots face challenges in effectively completing missions due to a growing demand for on-orbit service and several realistic factors. Consequently, controlled floating space robot has become a more significant research subject. However, its complex dynamic characteristics make current control techniques difficult to directly apply for adaptive-control. Consider that the contraction theory has promising performance in complex system control, this paper addresses the complex dynamic model of controlled floating space robots and combines the theory of parameter system reconstruction in fully-actuated systems with contraction theory to design efficient adaptive controller, in order to mitigate the impact of space perturbations and input constraints. This paper provides new perspectives for adaptive-control in the domain of space robotics.
AB - As human exploration of extraterrestrial space deepens, traditional space robots face challenges in effectively completing missions due to a growing demand for on-orbit service and several realistic factors. Consequently, controlled floating space robot has become a more significant research subject. However, its complex dynamic characteristics make current control techniques difficult to directly apply for adaptive-control. Consider that the contraction theory has promising performance in complex system control, this paper addresses the complex dynamic model of controlled floating space robots and combines the theory of parameter system reconstruction in fully-actuated systems with contraction theory to design efficient adaptive controller, in order to mitigate the impact of space perturbations and input constraints. This paper provides new perspectives for adaptive-control in the domain of space robotics.
KW - contraction theory
KW - fully-actuated system parameter reconstruction
KW - ontrolled floating space robots
KW - robust adaptive-control
UR - https://www.scopus.com/pages/publications/85186743281
U2 - 10.1109/ONCON60463.2023.10430527
DO - 10.1109/ONCON60463.2023.10430527
M3 - 会议稿件
AN - SCOPUS:85186743281
T3 - 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023
BT - 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023
Y2 - 8 December 2023 through 10 December 2023
ER -