Adaptive Control Strategy for Space Robot Target Manipulation Based on Decoupled Dynamic Modeling

The manipulation or grasping of unknown objects represents an important task for free-floating space robots. The dynamic coupling between the target object and the robot often introduces complexity into the control design. To address this, we employ an extended Rosenberg embedding method to dynamica...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems Vol. 61; no. 4; pp. 9235 - 9246
Main Authors: Yu, Jin, Jiang, Hankun, Wang, Xiaoyi, Jiang, Bingrun, Zeru, Rediet Tesfaye, Chai, Senchun
Format: Journal Article
Language:English
Published: New York IEEE 01.08.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Adaptation models
Adaptive control
Aerodynamics
Aerospace electronics
Automation
decoupled dynamics
Dynamic models
extended Rosenberg embedding method (EREM)
Flight safety
free-floating space robot (FFSR)
Mathematical models
Parameter uncertainty
Robot control
Robot dynamics
Robot kinematics
Robots
Space robots
Space vehicles
Tracking
Trajectories
Uncertainty
ISSN:0018-9251, 1557-9603
Online Access:Get full text
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Summary:The manipulation or grasping of unknown objects represents an important task for free-floating space robots. The dynamic coupling between the target object and the robot often introduces complexity into the control design. To address this, we employ an extended Rosenberg embedding method to dynamically decouple the center-body, unknown object, and dual arm. Based on the decoupled model, an adaptive control consisting of three components is introduced. The first two parts, under the known system model, are designed for the task trajectory following. The third part utilizes a boundary function to enhance the system's robustness in the face of the worst effects arising from uncertain parameters of the target. Combining these three terms allows the unknown target to track the desired trajectory while maintaining the attitude of the center body for flight safety. The stability of the robot system under the proposed method is theoretically guaranteed and the control performance is numerically verified by the simulation in 3-D.
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ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2025.3553462