Robust control of a space robot based on an optimized adaptive variable structure control method

Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive...
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Autor*in:	Shi, Lingling [verfasserIn] Yao, He [verfasserIn] Shan, Minghe [verfasserIn] Gao, Qingbin [verfasserIn] Jin, Xin [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2021

Schlagwörter:	Space robot Coordinate motion control Adaptive variable structure control Optimization

Übergeordnetes Werk:	Enthalten in: Aerospace science and technology - Amsterdam [u.a.] : Elsevier Science, 1997, 120
Übergeordnetes Werk:	volume:120

DOI / URN:	10.1016/j.ast.2021.107267

Katalog-ID:	ELV007263023

Internformat


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100	1		\|a Shi, Lingling \|e verfasserin \|0 (orcid)0000-0002-4821-6818 \|4 aut
245	1	0	\|a Robust control of a space robot based on an optimized adaptive variable structure control method
264		1	\|c 2021
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520			\|a Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method.
650		4	\|a Space robot
650		4	\|a Coordinate motion control
650		4	\|a Adaptive variable structure control
650		4	\|a Optimization
700	1		\|a Yao, He \|e verfasserin \|4 aut
700	1		\|a Shan, Minghe \|e verfasserin \|0 (orcid)0000-0002-8823-7269 \|4 aut
700	1		\|a Gao, Qingbin \|e verfasserin \|4 aut
700	1		\|a Jin, Xin \|e verfasserin \|4 aut
773	0	8	\|i Enthalten in \|t Aerospace science and technology \|d Amsterdam [u.a.] : Elsevier Science, 1997 \|g 120 \|h Online-Ressource \|w (DE-627)320521486 \|w (DE-600)2014638-3 \|w (DE-576)255630425 \|x 1626-3219 \|7 nnns
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912			\|a GBV_ILN_73
912			\|a GBV_ILN_74
912			\|a GBV_ILN_90
912			\|a GBV_ILN_95
912			\|a GBV_ILN_100
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912			\|a GBV_ILN_370
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912			\|a GBV_ILN_2048
912			\|a GBV_ILN_2049
912			\|a GBV_ILN_2050
912			\|a GBV_ILN_2056
912			\|a GBV_ILN_2059
912			\|a GBV_ILN_2061
912			\|a GBV_ILN_2064
912			\|a GBV_ILN_2065
912			\|a GBV_ILN_2068
912			\|a GBV_ILN_2088
912			\|a GBV_ILN_2111
912			\|a GBV_ILN_2112
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912			\|a GBV_ILN_2122
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912			\|a GBV_ILN_4251
912			\|a GBV_ILN_4305
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936	b	k	\|a 55.50 \|j Luftfahrzeugtechnik
936	b	k	\|a 55.60 \|j Raumfahrttechnik
936	b	k	\|a 55.60 \|j Raumfahrttechnik
951			\|a AR
952			\|d 120

Indexfelder

author_variant	l s ls h y hy m s ms q g qg x j xj
matchkey_str	article:16263219:2021----::outotooapcrbtaeoaotmzddpieaibe
hierarchy_sort_str	2021
bklnumber	55.50 55.60
publishDate	2021
allfields	10.1016/j.ast.2021.107267 doi (DE-627)ELV007263023 (ELSEVIER)S1270-9638(21)00777-X DE-627 ger DE-627 rda eng 620 DE-600 55.50 bkl 55.60 bkl 55.60 bkl Shi, Lingling verfasserin (orcid)0000-0002-4821-6818 aut Robust control of a space robot based on an optimized adaptive variable structure control method 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method. Space robot Coordinate motion control Adaptive variable structure control Optimization Yao, He verfasserin aut Shan, Minghe verfasserin (orcid)0000-0002-8823-7269 aut Gao, Qingbin verfasserin aut Jin, Xin verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 120 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:120 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 55.50 Luftfahrzeugtechnik 55.60 Raumfahrttechnik 55.60 Raumfahrttechnik AR 120
spelling	10.1016/j.ast.2021.107267 doi (DE-627)ELV007263023 (ELSEVIER)S1270-9638(21)00777-X DE-627 ger DE-627 rda eng 620 DE-600 55.50 bkl 55.60 bkl 55.60 bkl Shi, Lingling verfasserin (orcid)0000-0002-4821-6818 aut Robust control of a space robot based on an optimized adaptive variable structure control method 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method. Space robot Coordinate motion control Adaptive variable structure control Optimization Yao, He verfasserin aut Shan, Minghe verfasserin (orcid)0000-0002-8823-7269 aut Gao, Qingbin verfasserin aut Jin, Xin verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 120 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:120 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 55.50 Luftfahrzeugtechnik 55.60 Raumfahrttechnik 55.60 Raumfahrttechnik AR 120
allfields_unstemmed	10.1016/j.ast.2021.107267 doi (DE-627)ELV007263023 (ELSEVIER)S1270-9638(21)00777-X DE-627 ger DE-627 rda eng 620 DE-600 55.50 bkl 55.60 bkl 55.60 bkl Shi, Lingling verfasserin (orcid)0000-0002-4821-6818 aut Robust control of a space robot based on an optimized adaptive variable structure control method 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method. Space robot Coordinate motion control Adaptive variable structure control Optimization Yao, He verfasserin aut Shan, Minghe verfasserin (orcid)0000-0002-8823-7269 aut Gao, Qingbin verfasserin aut Jin, Xin verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 120 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:120 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 55.50 Luftfahrzeugtechnik 55.60 Raumfahrttechnik 55.60 Raumfahrttechnik AR 120
allfieldsGer	10.1016/j.ast.2021.107267 doi (DE-627)ELV007263023 (ELSEVIER)S1270-9638(21)00777-X DE-627 ger DE-627 rda eng 620 DE-600 55.50 bkl 55.60 bkl 55.60 bkl Shi, Lingling verfasserin (orcid)0000-0002-4821-6818 aut Robust control of a space robot based on an optimized adaptive variable structure control method 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method. Space robot Coordinate motion control Adaptive variable structure control Optimization Yao, He verfasserin aut Shan, Minghe verfasserin (orcid)0000-0002-8823-7269 aut Gao, Qingbin verfasserin aut Jin, Xin verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 120 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:120 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 55.50 Luftfahrzeugtechnik 55.60 Raumfahrttechnik 55.60 Raumfahrttechnik AR 120
allfieldsSound	10.1016/j.ast.2021.107267 doi (DE-627)ELV007263023 (ELSEVIER)S1270-9638(21)00777-X DE-627 ger DE-627 rda eng 620 DE-600 55.50 bkl 55.60 bkl 55.60 bkl Shi, Lingling verfasserin (orcid)0000-0002-4821-6818 aut Robust control of a space robot based on an optimized adaptive variable structure control method 2021 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method. Space robot Coordinate motion control Adaptive variable structure control Optimization Yao, He verfasserin aut Shan, Minghe verfasserin (orcid)0000-0002-8823-7269 aut Gao, Qingbin verfasserin aut Jin, Xin verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 120 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:120 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 55.50 Luftfahrzeugtechnik 55.60 Raumfahrttechnik 55.60 Raumfahrttechnik AR 120
language	English
source	Enthalten in Aerospace science and technology 120 volume:120
sourceStr	Enthalten in Aerospace science and technology 120 volume:120
format_phy_str_mv	Article
bklname	Luftfahrzeugtechnik Raumfahrttechnik
institution	findex.gbv.de
topic_facet	Space robot Coordinate motion control Adaptive variable structure control Optimization
dewey-raw	620
isfreeaccess_bool	false
container_title	Aerospace science and technology
authorswithroles_txt_mv	Shi, Lingling @@aut@@ Yao, He @@aut@@ Shan, Minghe @@aut@@ Gao, Qingbin @@aut@@ Jin, Xin @@aut@@
publishDateDaySort_date	2021-01-01T00:00:00Z
hierarchy_top_id	320521486
dewey-sort	3620
id	ELV007263023
language_de	englisch
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author	Shi, Lingling
spellingShingle	Shi, Lingling ddc 620 bkl 55.50 bkl 55.60 misc Space robot misc Coordinate motion control misc Adaptive variable structure control misc Optimization Robust control of a space robot based on an optimized adaptive variable structure control method
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topic_title	620 DE-600 55.50 bkl 55.60 bkl Robust control of a space robot based on an optimized adaptive variable structure control method Space robot Coordinate motion control Adaptive variable structure control Optimization
topic	ddc 620 bkl 55.50 bkl 55.60 misc Space robot misc Coordinate motion control misc Adaptive variable structure control misc Optimization
topic_unstemmed	ddc 620 bkl 55.50 bkl 55.60 misc Space robot misc Coordinate motion control misc Adaptive variable structure control misc Optimization
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title	Robust control of a space robot based on an optimized adaptive variable structure control method
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title_full	Robust control of a space robot based on an optimized adaptive variable structure control method
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author_browse	Shi, Lingling Yao, He Shan, Minghe Gao, Qingbin Jin, Xin
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title_sort	robust control of a space robot based on an optimized adaptive variable structure control method
title_auth	Robust control of a space robot based on an optimized adaptive variable structure control method
abstract	Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method.
abstractGer	Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method.
abstract_unstemmed	Space robot has been playing an increasingly important role in on-orbit service missions. Dynamic coupling exists between the space robot arm and the floating base, and an inaccurate dynamic model will deteriorate the control accuracy of space robot motion. This paper proposed an optimized adaptive variable structure control method to realize coordinate motion control of space robot base and its arm. The controller can adapt its gain to match system uncertainties and external disturbances so that the error dynamics converge to the origin following a parabola-like path which is close to the natural behavior of a second-order system. Therefore, the controller will eliminate the chattering phenomenon and reduce the settling time. Further, taking the motion error as the objective function, the gain parameter is optimized by adopting the modified Gaussian barebones differential evolution method. Numerical simulations aimed at verifying the space robot dynamic model and the effectiveness of the controller are carried out based on Simscape Multibody. The results prove that the theoretical dynamic model of the space robot is accurate. In addition, the controller is demonstrated to present reduced settling time and higher control accuracy in comparison with the boundary layer sliding mode control method.
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title_short	Robust control of a space robot based on an optimized adaptive variable structure control method
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author2	Yao, He Shan, Minghe Gao, Qingbin Jin, Xin
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doi_str	10.1016/j.ast.2021.107267
up_date	2024-07-07T00:09:38.836Z
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Robust control of a space robot based on an optimized adaptive variable structure control method

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