TY - GEN
T1 - Immersion and Invariance-Based Adaptive Coordinate Control for Space Manipulator
AU - Fan, Yidi
AU - Jing, Wuxing
AU - Gao, Changsheng
AU - Bernelli-Zazzera, Franco
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/30
Y1 - 2021/7/30
N2 - This paper investigates the coordinate control problem for a free-flying spacecraft equipped with a manipulator. A novel robust adaptive sliding mode controller modified by immersion and invariance theory is proposed to drive the spacecraft attitude and the manipulator pose to maneuver from the initial condition to the desired one in a fast manner, simultaneously guaranteeing the robustness against system uncertainties and external environmental disturbances. The nonconventional sliding mode surface and introduction of II theory eliminate the effect of chattering since the system dynamics evolve closer to its natural behavior. Moreover, the noncertainty equivalence principle based disturbance estimator avoids possible controller singularities. Stability analysis of the closed-loop has been rigorously proven with the Lyapunov theory. Numerical simulations demonstrating the effectiveness and robustness of the proposed control scheme are carried out on a model of a spacecraft equipped with a 2 degree of freedom manipulator.
AB - This paper investigates the coordinate control problem for a free-flying spacecraft equipped with a manipulator. A novel robust adaptive sliding mode controller modified by immersion and invariance theory is proposed to drive the spacecraft attitude and the manipulator pose to maneuver from the initial condition to the desired one in a fast manner, simultaneously guaranteeing the robustness against system uncertainties and external environmental disturbances. The nonconventional sliding mode surface and introduction of II theory eliminate the effect of chattering since the system dynamics evolve closer to its natural behavior. Moreover, the noncertainty equivalence principle based disturbance estimator avoids possible controller singularities. Stability analysis of the closed-loop has been rigorously proven with the Lyapunov theory. Numerical simulations demonstrating the effectiveness and robustness of the proposed control scheme are carried out on a model of a spacecraft equipped with a 2 degree of freedom manipulator.
KW - coordinate control
KW - immersion and invariance
KW - sliding mode control
KW - space manipulator
UR - https://www.scopus.com/pages/publications/85116552639
U2 - 10.1109/ICCSSE52761.2021.9545125
DO - 10.1109/ICCSSE52761.2021.9545125
M3 - 会议稿件
AN - SCOPUS:85116552639
T3 - 2021 7th International Conference on Control Science and Systems Engineering, ICCSSE 2021
SP - 63
EP - 67
BT - 2021 7th International Conference on Control Science and Systems Engineering, ICCSSE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Control Science and Systems Engineering, ICCSSE 2021
Y2 - 30 July 2021 through 1 August 2021
ER -