| Title: | OS19-2 Task-space Tracking Control for Dual-arm Free-floating Space Manipulators with Disturbances and Uncertainties |
|---|---|
| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 539-542 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.OS19-2 |
| Author(s): | Qian Sun, Yingmin Jia |
| Publication Date: | February 13, 2025 |
| Keywords: | Dual-arm free-floating space manipulator, Task space, Disturbance observer, Dynamic surface control |
| Abstract: | This paper investigates task-space tracking control for dual-arm free-floating space manipulators (DFFSM) subject to unknown disturbances, kinematic and dynamic uncertainties. First, we design a sliding mode disturbance observer to compensate for the lumped disturbances, including unknown disturbances and dynamic uncertainties. Then, an adaptive dynamic surface controller (ADSC) is proposed for DFFSM system, where the uncertain kinematics is estimated by an adaptive algorithm. It is validated through Lyapunov analysis that the tracking errors of the end-effectors are uniformly ultimately bounded under the proposed control scheme. Numerical simulations validate the effectiveness of the proposed control scheme. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS19/OS19-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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