Robust task-space tracking for free-floating space manipulators by cerebellar model articulation controller
ISSN: 0144-5154
Article publication date: 12 March 2019
Issue publication date: 16 April 2019
Abstract
Purpose
The purpose of this paper is to solve the tracking problem for free-floating space manipulators (FFSMs) in task space with parameter uncertainties and external disturbance.
Design/methodology/approach
In this paper, the novel cerebellar model articulation controller (CMAC) is designed with the feedback controller. More precisely, the parameter uncertainties in the FFSM are considered for achieving the robustness.
Findings
By using the dynamically equivalent model, the CMAC can be designed and trained with the desired performance, such that the prescribed trajectory can be followed accordingly. The simulation results are presented for illustrating the validity of the derived results.
Originality/value
Based on the designed CMAC, the tracking error would be approaching zero by choosing appropriate quantization level in CMAC and the corresponding learning rules can be tuned online.
Keywords
Acknowledgements
This work is supported partly by the National Natural Science Foundation (NSFC) of China (under grants 61627808, 91648205), partly by the development of science and technology of Guangdong province special fund project Grants 2016B090910001, and partly by The National Key Research and Development Program of China (2017YFB1300200).
Citation
Li, L., Chen, Z., Wang, Y., Zhang, X. and Wang, N. (2019), "Robust task-space tracking for free-floating space manipulators by cerebellar model articulation controller", Assembly Automation, Vol. 39 No. 1, pp. 26-33. https://doi.org/10.1108/AA-11-2017-143
Publisher
:Emerald Publishing Limited
Copyright © 2019, Emerald Publishing Limited