Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance
MetadataShow full item record
This paper presents a tracking control with guaranteed prescribed performance (PP) for space free-flying robots with uncertain kinematics (Jacobian matrix) and dynamics, uncertain normal force parameter, and bounded disturbances in a compliant contact with a planar surface. Given the orientation of the surface and a nonlinear model of the elastic force, a controller is designed requiring no information on the robot parameters and the disturbances. This controller will guarantee that the tracking errors satisfy PP indexes such as the maximum steady-state errors and overshoots, and the minimum convergence rates. Thus, contact maintenance can be ensured as prescribed. An approximation of the Jacobian is utilized in the presence of uncertain robot kinematics, and PP position/attitude tracking of the free-flying base is achieved in addition to the PP force/position tracking of the manipulator's fingertip. The proposed controller is based on an error transformation technique, and a directly tunable gain for the transformed error feedback is introduced in the control to trade off between the tracking performance and control effort. Numerical simulations and comparisons demonstrate the effectiveness and superiority of the proposed controller.
Showing items related by title, author, creator and subject.
Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performanceJiang, C.; Teo, Kok Lay; Xu, Honglei; Caccetta, Louis; Duan, G. (2015)This paper presents a tracking control with guaranteed prescribed performance (PP) for space free-flying robots with uncertain kinematics (Jacobian matrix) and dynamics, uncertain normal force parameter, and bounded ...
Do, Khac Duc (2013)This paper presents a design of bounded controllers with a predetermined bound for global path tracking control of unicycle-type mobile robots at the torque level. A new one-step ahead backstepping method is first introduced. ...
Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing rangesDo, Khac Duc (2009)This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee ...