Pseudo Predictor-Based Fully Actuated System Approach for Trajectory Tracking of Space Manipulators with a Constant Input Delay

Xujie Zhang; Jinpeng Fan; Guangren Duan; Guangtai Tian

doi:10.1016/j.ifacol.2025.11.543

Pseudo Predictor-Based Fully Actuated System Approach for Trajectory Tracking of Space Manipulators with a Constant Input Delay

Xujie Zhang
, Jinpeng Fan
, Guangren Duan^*
, Guangtai Tian

^*Corresponding author for this work

School of Astronautics

Southern University of Science and Technology
Sichuan University

Research output: Contribution to journal › Conference article › peer-review

Abstract

We investigate the trajectory tracking control of space manipulators with a constant input delay via a novel fully actuated system (FAS) approach. By transforming the original system into error dynamics, we propose a pseudo predictor-based FAS controller which leverages the user-specified constant closed loop to predict future errors. A Lyapunov-Krasovskii (LK) functional-based stability analysis is then developed to guarantee the uniform ultimate boundedness (UUB) of the tracking error.

Original language	English
Pages (from-to)	2555-2560
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	59
Issue number	20
DOIs	https://doi.org/10.1016/j.ifacol.2025.11.543
State	Published - 1 Aug 2025
Event	23th IFAC Symposium on Automatic Control in Aerospace, ACA 2025 - Harbin, China Duration: 2 Aug 2025 → 6 Aug 2025

Keywords

Space manipulators
fully actuated system (FAS) approach
predictor design
time-delay systems
trajectory tracking

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10.1016/j.ifacol.2025.11.543

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title = "Pseudo Predictor-Based Fully Actuated System Approach for Trajectory Tracking of Space Manipulators with a Constant Input Delay",

abstract = "We investigate the trajectory tracking control of space manipulators with a constant input delay via a novel fully actuated system (FAS) approach. By transforming the original system into error dynamics, we propose a pseudo predictor-based FAS controller which leverages the user-specified constant closed loop to predict future errors. A Lyapunov-Krasovskii (LK) functional-based stability analysis is then developed to guarantee the uniform ultimate boundedness (UUB) of the tracking error.",

keywords = "Space manipulators, fully actuated system (FAS) approach, predictor design, time-delay systems, trajectory tracking",

author = "Xujie Zhang and Jinpeng Fan and Guangren Duan and Guangtai Tian",

note = "Publisher Copyright: Copyright {\textcopyright} 2025 The Authors.; 23th IFAC Symposium on Automatic Control in Aerospace, ACA 2025 ; Conference date: 02-08-2025 Through 06-08-2025",

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AU - Zhang, Xujie

AU - Fan, Jinpeng

AU - Duan, Guangren

AU - Tian, Guangtai

PY - 2025/8/1

Y1 - 2025/8/1

N2 - We investigate the trajectory tracking control of space manipulators with a constant input delay via a novel fully actuated system (FAS) approach. By transforming the original system into error dynamics, we propose a pseudo predictor-based FAS controller which leverages the user-specified constant closed loop to predict future errors. A Lyapunov-Krasovskii (LK) functional-based stability analysis is then developed to guarantee the uniform ultimate boundedness (UUB) of the tracking error.

AB - We investigate the trajectory tracking control of space manipulators with a constant input delay via a novel fully actuated system (FAS) approach. By transforming the original system into error dynamics, we propose a pseudo predictor-based FAS controller which leverages the user-specified constant closed loop to predict future errors. A Lyapunov-Krasovskii (LK) functional-based stability analysis is then developed to guarantee the uniform ultimate boundedness (UUB) of the tracking error.

KW - Space manipulators

KW - fully actuated system (FAS) approach

KW - predictor design

KW - time-delay systems

KW - trajectory tracking

UR - https://www.scopus.com/pages/publications/105025924980

U2 - 10.1016/j.ifacol.2025.11.543

DO - 10.1016/j.ifacol.2025.11.543

M3 - 会议文章

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SN - 2405-8971

VL - 59

SP - 2555

EP - 2560

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 20

T2 - 23th IFAC Symposium on Automatic Control in Aerospace, ACA 2025

Y2 - 2 August 2025 through 6 August 2025

ER -

Pseudo Predictor-Based Fully Actuated System Approach for Trajectory Tracking of Space Manipulators with a Constant Input Delay

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