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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Qu, Yi (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Fu, Wenxing (editor) / Dong, Zhicai (author) / Wang, Lu (author) / Guo, Yu (author)

    Conference:

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



    Publication date :

    2024-04-26


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Robust Adaptive Trajectory Tracking Sliding Mode Control for Industrial Robot Manipulator using Fuzzy Neural Network

    Xuan, Quynh Nguyen / Cong, Cuong Nguyen / Ba, Nghien Nguyen | BASE | 2024

    Free access

    Trajectory Tracking Control of Morphing Space Robot for Space Debris Capture

    Chaudhary, David / Murugan, Senthil | Springer Verlag | 2024


    Output-Torque Error Analysis and Steering Law Design of SGCMGs Based on SVD Theory

    Jin, J. / Zhang, J. / Liu, Z. et al. | British Library Conference Proceedings | 2009