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.
Robust Adaptive Trajectory Tracking Control for Dual-Arm Space Robot with Pyramid-Type SGCMGs
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2023 ; Nanjing, China September 09, 2023 - September 11, 2023
Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) ; Chapter : 11 ; 111-122
2024-04-26
12 pages
Article/Chapter (Book)
Electronic Resource
English
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