Experimental investigation on adaptive robust controller designs applied to a free-floating space manipulator

• Published in: Control engineering practice Vol. 19; no. 4; pp. 395 - 408
• Main Authors: Pazelli, Tatiana F.P.A.T., Terra, Marco H., Siqueira, Adriano A.G.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.04.2011; Elsevier
• Subjects: [formula omitted] control; Adaptive control; Adaptive control systems; Applied sciences; Computer science; control theory; systems; Control system analysis; Control system synthesis; Control theory. Systems; Design engineering; Discrete element method; Disturbances; Drives; Equivalence; Exact sciences and technology; Fuzzy systems; Linkage mechanisms, cams; Manipulators; Mechanical engineering. Machine design; Neural networks; Robot arms; Robotics; Space robotics; Space robotics; H ∞ control; Neural networks; Adaptive control; Fuzzy systems; Space application; Disturbance rejection; Planar mechanism; H infinite control; Non linear control; Control synthesis; Neural network; Parameterization; Modeling; Fuzzy neural nets; Robotics; Manipulator; Robust control; Fuzzy logic; Uncertain system; H∞ control; Linkage mechanism; Underactuation
• ISSN: 0967-0661; 1873-6939
• DOI: 10.1016/j.conengprac.2010.12.011

This paper aims to formulate and investigate the application of various nonlinear H ∞ control methods to a free-floating space manipulator subject to parametric uncertainties and external disturbances. From a tutorial perspective, a model-based approach and adaptive procedures based on linear parametrization, neural networks and fuzzy systems are covered by this work. A comparative study is conducted based on experimental implementations performed with an actual underactuated fixed-base planar manipulator which is, following the DEM concept, dynamically equivalent to a free-floating space manipulator. ► Development of nonlinear H ∞ control methods to free-floating space manipulators. ► Adaptive approaches based on neural networks and fuzzy systems are covered. ► Experimental implementations on a dynamically equivalent fixed-base manipulator. ► Comparative study based on experimental results and performance indexes.