Abstract In this paper, an effective control and parameters identification scheme was proposed for high-precision trajectory tracking of space robotic manipulators. Our proposed control method employed a linear-extended-state-observer (LESO) based model predictive control (MPC) scheme. The feedback linearization approach was utilized to develop a model predictive controller. The optimization objective function was simplified to a standard quadratic programming (QP) problem for solution. To minimize the impact of the inaccuracy in the dynamics model, a LESO was designed to estimate the disturbance, and its convergence was demonstrated. In order to improve the accuracy of dynamic model, the physical consistency of inertial parameters was constrained using linear matrix inequality (LMI) techniques. Moreover, the dynamics parameters were estimated through semidefinite programming (SDP) techniques. To validate the effectiveness of the proposed control method, it was compared with existing controllers through simulations and experiments. The results demonstrated the superior performance of the proposed scheme, highlighting its potential for achieving high-precision trajectory tracking control in space robotic manipulators.

    Highlights High-precision trajectory tracking control for space manipulator is investigated. Feedback linearization based predictive model for MPC is established. A LESO is designed and its convergence is proven. A physical consistency parameters identification method is presented. Both simulations and experiments are performed for validation.


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    Titel :

    Identification and high-precision trajectory tracking control for space robotic manipulator


    Beteiligte:
    Li, Yuntao (Autor:in) / Xu, Zichun (Autor:in) / Yang, Xiaohang (Autor:in) / Zhao, Zhiyuan (Autor:in) / Zhuang, Lei (Autor:in) / Zhao, Jingdong (Autor:in) / Liu, Hong (Autor:in)

    Erschienen in:

    Acta Astronautica ; 214 ; 484-495


    Erscheinungsdatum :

    2023-11-02


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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