@inproceedings{7032e77efe814a52abc068bbdc678be2,
title = "Anti-Disturbance Attitude Control of Space-Flying Robot Based on Neural Dynamic Inverse",
abstract = "This study investigates the attitude control problem for space-flying robot (SFR) that works inside the space station. A neural nonlinear dynamic inverse (NDI) is proposed to handle possible dynamic couplings among roll, pitch and yaw channels of SFR, where a neural network is carefully constructed to reduce the computing complexity of traditional NDI algorithm. Based on the decoupled attitude dynamics, a low-complexity disturbance observer-based attitude control is designed for each channel, which can remove the negative effect of mismatched lumped disturbances from the output channel. The effectiveness of the proposed neural NDI-based anti-disturbance control is verified by both simulation and experiment for a real SFR.",
keywords = "Attitude Control, Disturbance Observer, Dynamic Inverse, Neural Network, Space-Flying Robot",
author = "Hao An and Linchang Lu and Yiming Wang and Xinyu Yu",
note = "Publisher Copyright: {\textcopyright} 2025 Technical Committee on Control Theory, Chinese Association of Automation.; 44th Chinese Control Conference, CCC 2025 ; Conference date: 28-07-2025 Through 30-07-2025",
year = "2025",
doi = "10.23919/CCC64809.2025.11178888",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4651--4656",
editor = "Jian Sun and Hongpeng Yin",
booktitle = "Proceedings of the 44th Chinese Control Conference, CCC 2025",
address = "美国",
}