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    Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance

    Access Status
    Fulltext not available
    Authors
    Jiang, C.
    Teo, Kok Lay
    Xu, Honglei
    Caccetta, Louis
    Duan, G.
    Date
    2015
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Jiang, C. and Teo, K.L. and Xu, H. and Caccetta, L. and Duan, G. 2015. Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance. Robotics and Autonomous Systems. 72: pp. 235-247.
    Source Title
    Robotics and Autonomous Systems
    DOI
    10.1016/j.robot.2015.05.014
    ISSN
    0921-8890
    School
    Department of Mathematics and Statistics
    URI
    http://hdl.handle.net/20.500.11937/61328
    Collection
    • Curtin Research Publications
    Abstract

    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.

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