Constrained Compliant Control for Space Robot Postcapturing Uncertain Target
Publication: Journal of Aerospace Engineering
Volume 32, Issue 1
Abstract
In the postcapture phase, compliant manipulation can maintain the target undamaged and ensure the safety of the manipulation procedure. In most studies, due to the compliant equation, the compliant control scheme is not effective enough to perform all kinds of the manipulation missions in the postcapture phase. In this paper, a constrained compliant control scheme is proposed for safe manipulation of a postcapturing uncertain target with space robotic system. In order to manipulate the target safely and effectively, a compliant reference trajectory of the desired trajectory is generated considering the constraints of the contact force and torque. By constructing a Barrier Lyapunov function (BLF) based constrained tracking controller, the control performance is designed in advance, and the constraints are preserved during the whole procedure. Finally, the simulations of stabilizing an uncertain tumbling target in the postcapture phase are designed to illustrate the effectiveness of the proposed control scheme. With the comparisons to the general compliant control schemes, the safety and effectiveness of the proposed control scheme are validated via digital simulations.
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Acknowledgments
The authors would like to thank for the support of the Major Program of National Natural Science Foundation of China (Grant Nos. 61690210, 61690211, and 61603304) and the Fundamental Research Funds for the Central Universities.
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Published In
Journal of Aerospace Engineering
Volume 32 • Issue 1 • January 2019
Copyright
©2018 American Society of Civil Engineers.
History
Received: Feb 13, 2018
Accepted: Jun 13, 2018
Published online: Sep 24, 2018
Published in print: Jan 1, 2019
Discussion open until: Feb 24, 2019
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