Aiming at the trajectory tracking problem of dual-arm space robot with pyramid-type single gimbaled control moment gyroscopes (SGCMGs) as the base spacecraft actuator, a robust adaptive trajectory tracking controller is designed, to restrain the effects of the SGCMGs friction. The LuGre friction model describes the SGCMGs friction and projection-based adaptive laws are adopted to estimate the friction uncertainties, the bound of friction nonlinearity as well as the disturbances. The dual-arm space robot control system is ultimately proved to be globally uniformly ultimately bounded and stable via Lyapunov theory. The effectiveness of the controller is demonstrated via numerical simulations.


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    Titel :

    Robust Adaptive Trajectory Tracking Control for Dual-Arm Space Robot with Pyramid-Type SGCMGs


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Qu, Yi (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Fu, Wenxing (Herausgeber:in) / Dong, Zhicai (Autor:in) / Wang, Lu (Autor:in) / Guo, Yu (Autor:in)

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2023 ; Nanjing, China September 09, 2023 - September 11, 2023



    Erscheinungsdatum :

    26.04.2024


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch