Self-learning Control of Space Manipulator Based on Adaptive Fuzzy Compensator Controller

Paper number

IAC-08.C1.1.5

Author

Prof. Li Chen, Fuzhou University, China

Year

2008

Abstract

Space robot system will play an important role for a number of important missions in space, for example, to construct future space station, or to repair and serve satellites in earth orbit. Considerable research efforts have been directed to the dynamics and control problems of space robot system. Space robot system is one which the spacecraft’s position and attitude are not actively controlled during manipulators activity to conserve attitude control fuel. In such case, the spacecraft will move freely in response to the dynamical disturbances caused by the manipulators’ motions. It represented as high dynamic coupling between the manipulators and the spacecraft. This made the control of the space robot very difficult, especially with uncertainties which always happened under actually aplications. In this paper, the self-learning control of space robot system based on fuzzy compensator controller is studied. First, Under the conversation of the linear momentum, the kinematics and dynamics of a  space robot system is analyzed. Second, the jacobian relationship between end-point velocity  and the general velocities is derived. Based on above results, a self-learning controller of space robot system is proposed, which include two fold. One part of it is a computed torque method control law for certain item of the system, and the other is an adaptive fuzzy compensator controller. The adaptive fuzzy compensator controller is designed by using Lynapunov method. And the global convergence of the full controller was verified, too. At last, two numerical simulations is carried out, which confirm the controller proposed is feasible and effective.

Acknowledgement

This paper work is supported by the National Natural Science Foundation of China (Grant No.10672040), Fujian Provincial Natural Science Foundation (Grant No. E0410008).

Abstract document

IAC-08.C1.1.5.pdf

Manuscript document

IAC-08.C1.1.5.pdf (🔒 authorized access only).

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