Research on the operation of the capture task in microgravity environment

Chunguang Fan; Zongwu Xie; Zhiqi Li; Yiwei Liu; Chongyang Li; Hong Liu

doi:10.1109/RCAR.2018.8621733

Research on the operation of the capture task in microgravity environment

Chunguang Fan
, Zongwu Xie
, Zhiqi Li
, Yiwei Liu
, Chongyang Li
, Hong Liu

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper focuses on the variation of gravity compensation and unloading of TG2 manipulator in the space experiment. A novel sliding mode controller based on reaching law improved is proposed to control the manipulator. The Logistic function is introduced to design the reaching law, the asymptotic stabilization property of the closed-loop system is achieved by Lyapunov theory. The experimental result indicates the proposed controller has been enhanced the degree of automation of control system while guaranteeing the closed-loop system's robustness. To demonstrate the effectiveness of the proposed controller, two contrast experiments have been conducted on the TG2 manipulator on the ground and air-floating platform respectively.

Original language	English
Title of host publication	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	124-129
Number of pages	6
ISBN (Electronic)	9781538668689
DOIs	https://doi.org/10.1109/RCAR.2018.8621733
State	Published - 2 Jul 2018
Event	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 - Kandima, Maldives Duration: 1 Aug 2018 → 5 Aug 2018

Publication series

Name	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

Conference

Conference	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Country/Territory	Maldives
City	Kandima
Period	1/08/18 → 5/08/18

Access to Document

10.1109/RCAR.2018.8621733

Cite this

Fan, C., Xie, Z., Li, Z., Liu, Y., Li, C., & Liu, H. (2018). Research on the operation of the capture task in microgravity environment. In 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 (pp. 124-129). Article 8621733 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2018.8621733

@inproceedings{3cd419602f1f43a7a862d5c3fdca1bc0,

title = "Research on the operation of the capture task in microgravity environment",

abstract = "This paper focuses on the variation of gravity compensation and unloading of TG2 manipulator in the space experiment. A novel sliding mode controller based on reaching law improved is proposed to control the manipulator. The Logistic function is introduced to design the reaching law, the asymptotic stabilization property of the closed-loop system is achieved by Lyapunov theory. The experimental result indicates the proposed controller has been enhanced the degree of automation of control system while guaranteeing the closed-loop system's robustness. To demonstrate the effectiveness of the proposed controller, two contrast experiments have been conducted on the TG2 manipulator on the ground and air-floating platform respectively.",

author = "Chunguang Fan and Zongwu Xie and Zhiqi Li and Yiwei Liu and Chongyang Li and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 ; Conference date: 01-08-2018 Through 05-08-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/RCAR.2018.8621733",

language = "英语",

series = "2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "124--129",

booktitle = "2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018",

address = "美国",

}

Fan, C , Xie, Z, Li, Z, Liu, Y, Li, C & Liu, H 2018, Research on the operation of the capture task in microgravity environment. in 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018., 8621733, 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018, Institute of Electrical and Electronics Engineers Inc., pp. 124-129, 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018, Kandima, Maldives, 1/08/18. https://doi.org/10.1109/RCAR.2018.8621733

Research on the operation of the capture task in microgravity environment. / Fan, Chunguang ; Xie, Zongwu; Li, Zhiqi et al.
2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 124-129 8621733 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on the operation of the capture task in microgravity environment

AU - Fan, Chunguang

AU - Xie, Zongwu

AU - Li, Zhiqi

AU - Liu, Yiwei

AU - Li, Chongyang

AU - Liu, Hong

PY - 2018/7/2

Y1 - 2018/7/2

N2 - This paper focuses on the variation of gravity compensation and unloading of TG2 manipulator in the space experiment. A novel sliding mode controller based on reaching law improved is proposed to control the manipulator. The Logistic function is introduced to design the reaching law, the asymptotic stabilization property of the closed-loop system is achieved by Lyapunov theory. The experimental result indicates the proposed controller has been enhanced the degree of automation of control system while guaranteeing the closed-loop system's robustness. To demonstrate the effectiveness of the proposed controller, two contrast experiments have been conducted on the TG2 manipulator on the ground and air-floating platform respectively.

AB - This paper focuses on the variation of gravity compensation and unloading of TG2 manipulator in the space experiment. A novel sliding mode controller based on reaching law improved is proposed to control the manipulator. The Logistic function is introduced to design the reaching law, the asymptotic stabilization property of the closed-loop system is achieved by Lyapunov theory. The experimental result indicates the proposed controller has been enhanced the degree of automation of control system while guaranteeing the closed-loop system's robustness. To demonstrate the effectiveness of the proposed controller, two contrast experiments have been conducted on the TG2 manipulator on the ground and air-floating platform respectively.

UR - https://www.scopus.com/pages/publications/85062536363

U2 - 10.1109/RCAR.2018.8621733

DO - 10.1109/RCAR.2018.8621733

M3 - 会议稿件

AN - SCOPUS:85062536363

T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

SP - 124

EP - 129

BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

Y2 - 1 August 2018 through 5 August 2018

ER -

Fan C , Xie Z, Li Z, Liu Y, Li C, Liu H. Research on the operation of the capture task in microgravity environment. In 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 124-129. 8621733. (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018). doi: 10.1109/RCAR.2018.8621733

Research on the operation of the capture task in microgravity environment

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