Fuzzy Disturbance-Observer Based Control of Electrically Driven Free-Floating Space Manipulator

2011 ◽  
pp. 41-49 ◽  
Author(s):  
Zhongyi Chu ◽  
Jing Cui
Keyword(s):  
Disturbance Observer ◽  
Space Manipulator ◽  
Fuzzy Disturbance Observer

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

scholarly journals Neural Network Control of Space Manipulator Based on Dynamic Model and Disturbance Observer

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 130101-130112 ◽  
Author(s):  
He Jun-Pei ◽  
Huo Qi ◽  
Li Yan-Hui ◽  
Wang Kai ◽  
Zhu Ming-Chao ◽  
...  
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Disturbance Observer ◽  
Network Control ◽  
Neural Network Control ◽  
Space Manipulator

A fuzzy disturbance observer based control approach for a novel 1-DOF micropositioning mechanism

Mechatronics ◽  
2020 ◽  
Vol 65 ◽  
pp. 102317 ◽  
Author(s):  
Ammar Al-Jodah ◽  
Bijan Shirinzadeh ◽  
Mohammadali Ghafarian ◽  
Tilok Kumar Das ◽  
Yanling Tian ◽  
...  
Keyword(s):  
Disturbance Observer ◽  
Control Approach ◽  
Fuzzy Disturbance Observer

Synchronization of two different non-autonomous chaotic systems using fuzzy disturbance observer

2010 ◽  
Vol 374 (11-12) ◽  
pp. 1354-1361 ◽  
Author(s):  
Woojong Yoo ◽  
Daehyun Ji ◽  
Sangchul Won
Keyword(s):  
Disturbance Observer ◽  
Chaotic Systems ◽  
Fuzzy Disturbance Observer

Design of sliding-mode control based on fuzzy disturbance observer for minimization of switching gain and chattering

2014 ◽  
Vol 19 (4) ◽  
pp. 851-858 ◽  
Author(s):  
Hyo-Seok Kang ◽  
Yongho Lee ◽  
Chang-Ho Hyun ◽  
Heejin Lee ◽  
Mignon Park
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Mode Control ◽  
Fuzzy Disturbance Observer
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