Inertia-free appointed-time prescribed performance tracking control for space manipulator

2021 ◽  
pp. 106896
Author(s):  
Yidi Fan ◽  
Wuxing Jing
Keyword(s):  
Tracking Control ◽  
Space Manipulator ◽  
Prescribed Performance ◽  
Performance Tracking

scholarly journals Prescribed Performance Tracking Control for Hypersonic Flight Vehicles with Model Uncertainties

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Siyuan Zhao ◽  
Xiaobing Li ◽  
Xiangwei Bu ◽  
Dongyang Zhang
Keyword(s):  
Tracking Control ◽  
Tracking Error ◽  
Longitudinal Motion ◽  
Model Uncertainties ◽  
Prescribed Performance ◽  
Hypersonic Flight ◽  
Flight Vehicles ◽  
Performance Tracking ◽  
Control Objective ◽  
Proportional Integral Controller

This paper proposes a novel prescribed performance tracking control for a hypersonic flight vehicle (HFV) with model uncertainties. Firstly, a HFV longitudinal motion model is decomposed into a velocity subsystem and an altitude subsystem. Meanwhile, considering the uncertainties of the model, the velocity subsystem and altitude subsystem are directly expressed as the forms with unknown nonaffine functions. Secondly, a novel performance function without initial error is proposed for limiting the tracking error into a prescribed range. Then, for the altitude subsystem, the control objective is changed by model transformation and the prescribed performance backstepping controller is designed. For the velocity subsystem, a prescribed performance proportional-integral controller is proposed which has better engineering practicability. The designed controller is not only simple in form but also has few calculating parameters. Finally, the simulation results show that the proposed controller has good practicability.

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