4.7 Article

High-Precision Attitude Tracking Control of Space Manipulator System Under Multiple Disturbances

Journal

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 51, Issue 7, Pages 4274-4284

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2019.2931930

Keywords

Aerospace electronics; Uncertainty; Vibrations; Task analysis; Satellites; Manipulator dynamics; High-precision control; iterative learning control (ILC); on-orbit assembly; prescribed performance; space manipulator system

Funding

  1. National Natural Science Foundation of China [61627810, 61320106010, 61633003, 61603021, 61603130, 61751302, 61833013]
  2. Program for Changjiang Scholars and Innovative Research Team [IRT 16R03]
  3. Field Foundation of Equipment Development Department of People's Republic of China Central Military Commission [61403120301]
  4. Innovative Research Team of National Natural Science Foundation of China [61421063]

Ask authors/readers for more resources

A high-precision attitude control scheme for space manipulator system is proposed in this article, utilizing a combination of disturbance observer, prescribed performance-based control, and iterative learning control techniques. The scheme can effectively deal with vibration and uncertainties, achieving satisfactory tracking performance. Simulation and experimental results confirm the superiority of the proposed control strategy.
Precise attitude control of space manipulators plays an important role in advanced on-orbit assembly tasks. The vibration of flexible appendage and inertial uncertainties encountered in the operating process, however, may cause attitude error or even safety threats to the space manipulator system. In this article, a high-precision attitude control scheme of a space manipulator system is designed via a combination of disturbance observer (DO), prescribed performance-based control, and iterative learning control (ILC) techniques. The proposed control scheme consists of three portions: 1) a DO that estimates the vibration disturbance caused by flexible appendage of base satellite; 2) a robust controller with prescribed performance to attenuate the inertial uncertainties resulting from capture of an unknown object; and 3) an ILC for improving the transient and steady-state process in the presence of a repetitive on-orbit assembly task. This novel control scheme can not only handle the flexible vibration and inertial uncertainty of the space manipulator but also achieve satisfactory tracking performance. Both simulation and experimental results confirm the superiority of the proposed control strategy.

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