南方科技大学知识苑(SUSTech KC): Fully Actuated System Approach Based Tracking Control of Space Manipulator with An Optimal Gain

题名	Fully Actuated System Approach Based Tracking Control of Space Manipulator with An Optimal Gain
作者	Qin Zhao; Guangren Duan
DOI	10.1109/CFASTA57821.2023.10243187
发表日期	2023
ISBN	979-8-3503-3217-9
会议录名称	2023 2nd Conference on Fully Actuated System Theory and Applications (CFASTA)
页码	966-971
会议日期	14-16 July 2023
会议地点	Qingdao, China
摘要	This paper deals with the tracking problem of a space manipulator in the presence of actuator saturation. A tracking error system is first derived in the form of fully actuated system (FAS) model. Based on the FAS approach, a tracking controller is designed for the space manipulator, which makes the closed-loop system a constant linear one with an arbitrarily assigned eigenstructure. Then, in the framework of parametric method, the control gain matrices are determined by employing the optimal parameter tuning method with satisfying the input saturation constraint. Finally, a numerical simulation is performed to illustrate the effectiveness of the proposed controller.
关键词	Space manipulator Trajectory tracking Fully actuated system approach Parameter optimization Input saturation
学校署名	第一
相关链接	[IEEE记录]
收录类别	CPCI-S ; EI
WOS记录号	WOS:001071052200166
EI入藏号	20234214881055
EI主题词	Controllers ; Manipulators ; Robotic arms ; Spacecraft equipment
EI分类号	Spacecraft, General:655.1 ; Robotics:731.5 ; Control Equipment:732.1 ; Systems Science:961
来源库	IEEE
全文链接	https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10243187
引用统计	被引频次[WOS]：0
成果类型	会议论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/559212
专题	工学院_系统设计与智能制造学院
作者单位	Shenzhen Key Laboratory of Control Theory and Intelligent Systems, Southern University of Science and Technology, Shenzhen, P. R. China
第一作者单位	系统设计与智能制造学院
第一作者的第一单位	系统设计与智能制造学院
推荐引用方式 GB/T 7714	Qin Zhao,Guangren Duan. Fully Actuated System Approach Based Tracking Control of Space Manipulator with An Optimal Gain[C],2023:966-971.