Neural integrated control for a free-floating space robot with suddenly changing parameters

• Published in: Science China. Information sciences 2011-10, Vol.54 (10), p.2091-2099
• Main Authors: Zhang, WenHui, Qi, NaiMing, Ma, Jing, Xiao, AYang
• Format: Article
• Language: English
• Subjects: Asymptotic properties; Closed loops; Computer Science; Computer simulation; Control systems; Controllers; Feedback control; Information Systems and Communication Service; Mathematical models; Neural networks; Parameters; Radial basis function; Research Papers; Space robots; Stability; Variable structure; Variable structure control; 变参数; 变结构控制器; 径向基函数神经网络; 机器人模型; 渐近稳定性; 空间机器人; 自由浮动; 集成控制器
• ISSN: 1674-733X; 1869-1919
• DOI: 10.1007/s11432-011-4420-7

Because the state of a free-floating space robot model is uncertain and sudden changes in the model parameters might undermine the stability of the system, this paper proposes a control strategy based on a variable structure neural integrated controller. This scheme does not need a precise space robot model, making use of the radial basis function neural network ability approach to learn about an uncertain model. The network weights are adjusted online in real-time. During the early period of the control phase and parameter changes, the variable structure controller compensates for the uncertain model which the neural network could not learn well. It also creates global asymptotic stability for the whole closed-loop system. Simulation results show that the controller can handle bad changeable conditions and has important application value for defense, aerospace and other major security fields.