Predefined-time control for free-floating space robots in task space |
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| Institution: | 1. The State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China;2. The School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | This work mainly studies the position and attitude tracking control of a free-floating space robot. With the attitude represented in modified Rodrigues parameters (MRPs), a task-space controller with predefined-time stability is developed considering the external disturbance. The tuning parameters of a predefined-time controller can be formulated as functions of the prescribed upper bound of the stabilization time. Based on the backstepping technique and a novel predefined-time stabilizing function, a predefined-time control scheme is designed for the space robot system. Moreover, to avoid ’explosion of terms’, an auxiliary variable is introduced such that the controller is independent of the derivative of the virtual control law. Numerical simulations are presented to demonstrate the effectiveness of the proposed method. |
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