Work

Task-space Tracking Control for Dual-arm Free-floating Space Manipulators with Disturbances and Uncertainties

Year: 2025

Type: conference-paper

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.

Source: Proceedings of International Conference on Artificial Life and Robotics

DOI: 10.5954/icarob.2025.os19-2

Authors: Qian Sun, Yingmin Jia

Institution: Beihang University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funders: National Natural Science Foundation of China, National Key Research and Development Program of China