Volume 30 Issue 3
May  2010
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Chen Zhiyong, Chen Li. Robust Control for Space-based Robot With External Disturbances and Uncertain Parameters in Joint Space[J]. Journal of Space Science, 2010, 30(3): 275-282. doi: 10.11728/cjss2010.03.275
Citation: Chen Zhiyong, Chen Li. Robust Control for Space-based Robot With External Disturbances and Uncertain Parameters in Joint Space[J]. Journal of Space Science, 2010, 30(3): 275-282. doi: 10.11728/cjss2010.03.275

Robust Control for Space-based Robot With External Disturbances and Uncertain Parameters in Joint Space

doi: 10.11728/cjss2010.03.275
  • Received Date: 1900-01-01
  • Rev Recd Date: 1900-01-01
  • Publish Date: 2010-05-15
  • The robust control problems were discussed for space-based robot system whose base was not controlled. The under-actuated dynamic equations of the system were derived through the Lagrange method and linear momentum conservation of the system. It was shown that the dynamic equations mentioned above can be linearly dependent on a group of inertial parameters. Based on the results and with the augmentation approach, a robust control scheme was developed for space-based robot system with uncertain payload parameters and external disturbances to track the desired trajectory in joint space. The control scheme proposed doesn't require measuring the position, velocity and acceleration of the base with respect to the orbit due to an effective exploitation of the system dynamics. Besides, it is computationally simple, because the controller is always robust to the uncertain parameters and external disturbances rather than explicitly estimating them online. Therefore, the control scheme is prone to real-time and on-line applications in space-based robot system. A two-link planar space-based robot system was simulated to verify the proposed control scheme.

     

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