Robust Trajectory Tracking Control of Space Manipulators in Extended Task Space

This study provides a new class of controllers for freeflying space manipulators subject to unknown undesirable disturbing forces exerted on the end-effector. Based on suitably defined taskspace non-singular terminal sliding manifold and the Lyapunov stability theory, we derive a class of estimated...

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Bibliographic Details
Published in:Pomiary Automatyka Robotyka 2022-12, Vol.26 (4), p.27-35
Main Authors: Banaszkiewicz, Marek, Węgrzyn, Marek, Basmadji, Fatina, Galicki, Mirosław
Format: Article
Language:English
Online Access:Get full text
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Summary:This study provides a new class of controllers for freeflying space manipulators subject to unknown undesirable disturbing forces exerted on the end-effector. Based on suitably defined taskspace non-singular terminal sliding manifold and the Lyapunov stability theory, we derive a class of estimated extended transposed Jacobian controllers which seem to be effective in counteracting the unstructured disturbing forces. The numerical computations which are carried out for a space manipulator consisting of a spacecraft propelled by eight thrusters and holonomic manipulator of three revolute kinematic pairs, illustrate the performance of the proposed controller.
ISSN:1427-9126
DOI:10.14313/PAR_246/27