Recently, the Shenyang Institute of Automation of the Chinese Academy of Sciences has made progress in the autonomous control of space robots, proposing a modelless decoupling control algorithm based on delay estimation for the dynamic coupling of spacecraft platforms and robotic arms, and the related research results are Attitude Decoupling Control of Semifloating Space Robots Using Time-Delay Estimation and Supertwisting Control is published in IEEE Transactions on Aerospace and Electronic Systems.
Due to the harsh environment of outer space such as high and low temperature, ultra-vacuum, and strong radiation, the space robot system composed of spacecraft and robotic arms has the maneuverability of spacecraft and the operation ability of robotic arms, and will be widely used in orbit services and deep space exploration in the future. Space robots can carry a large number of autonomous operation tasks, such as capture, assembly, handling and sample return. For such robots, there is a complex dynamic coupling between the spacecraft platform and the robotic arm, which affects the operational accuracy of the end of the robotic arm. Therefore, how to effectively inhibit or compensate for the base-arm coupling is a hot and difficult problem in the field of space robotics.
To this end, researchers from the Space Automation Technology Research Laboratory of Shenyang Institute of Automation proposed a modelless robust decoupling control algorithm based on the Time-delay estimation (TDE) algorithm and super-twisting control (STC). The essence of this method is a transient learning control algorithm, which transforms the dynamic model by introducing a constant diagonal array, divides the new model into linear terms and new nonlinear terms, and uses the observation information and control inputs of the previous moment of the model to estimate the new nonlinear terms of the current moment system, so as to achieve efficient system decoupling. The advantage of this method is that it does not need to calculate the system model parameters in real time, and the algorithm has inherent adaptability and high computational efficiency. The results will provide theoretical basis and technical support for the subsequent development of space robot on-orbit services and deep space exploration missions.
The research work is supported by the National Key Research and Development Program, the National Natural Science Foundation of China, the Innovation Cross-team Project of the Chinese Academy of Sciences, and the Independent Project of the State Key Laboratory of Robotics.
Space Robotics and Control Methods
Source: Shenyang Institute of Automation, Chinese Academy of Sciences
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