Task-Space Finite-Time Prescribed Performance Tracking Control for Free-Flying Space Robots Under Input Saturation

Xuewen Zhang; Yingmin Jia

doi:10.1007/978-981-99-6187-0_2

Task-Space Finite-Time Prescribed Performance Tracking Control for Free-Flying Space Robots Under Input Saturation

Xuewen Zhang
, Yingmin Jia^*

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper investigates the task-space finite-time prescribed performance tracking control for a free-flying space robot subjected to input saturation. The proposed control law involves utilizing a modified barrier Lyapunov function, the backstepping technique, the dynamic surface control technique, and the adaptive approach. The closed-loop errors for both manipulator end-effector pose and base attitude are steered, converging in finite time with prescribed performance. Numerical simulations are carried out to illustrate the proposed control law.

Original language	English
Title of host publication	Proceedings of 2023 Chinese Intelligent Automation Conference
Editors	Zhidong Deng
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	13-22
Number of pages	10
ISBN (Print)	9789819961863
DOIs	https://doi.org/10.1007/978-981-99-6187-0_2
State	Published - 2023
Event	Chinese Intelligent Automation Conference, CIAC 2023 - Nanjing, China Duration: 2 Oct 2023 → 5 Oct 2023

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1082 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	Chinese Intelligent Automation Conference, CIAC 2023
Country/Territory	China
City	Nanjing
Period	2/10/23 → 5/10/23

Keywords

Backstepping
Finite-time stability
Free-flying space robot
Input saturation
Prescribed performance control

Access to Document

10.1007/978-981-99-6187-0_2

Cite this

Zhang, X., & Jia, Y. (2023). Task-Space Finite-Time Prescribed Performance Tracking Control for Free-Flying Space Robots Under Input Saturation. In Z. Deng (Ed.), Proceedings of 2023 Chinese Intelligent Automation Conference (pp. 13-22). (Lecture Notes in Electrical Engineering; Vol. 1082 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6187-0_2

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title = "Task-Space Finite-Time Prescribed Performance Tracking Control for Free-Flying Space Robots Under Input Saturation",

abstract = "This paper investigates the task-space finite-time prescribed performance tracking control for a free-flying space robot subjected to input saturation. The proposed control law involves utilizing a modified barrier Lyapunov function, the backstepping technique, the dynamic surface control technique, and the adaptive approach. The closed-loop errors for both manipulator end-effector pose and base attitude are steered, converging in finite time with prescribed performance. Numerical simulations are carried out to illustrate the proposed control law.",

keywords = "Backstepping, Finite-time stability, Free-flying space robot, Input saturation, Prescribed performance control",

author = "Xuewen Zhang and Yingmin Jia",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.; Chinese Intelligent Automation Conference, CIAC 2023 ; Conference date: 02-10-2023 Through 05-10-2023",

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doi = "10.1007/978-981-99-6187-0\_2",

language = "英语",

isbn = "9789819961863",

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Zhang, X & Jia, Y 2023, Task-Space Finite-Time Prescribed Performance Tracking Control for Free-Flying Space Robots Under Input Saturation. in Z Deng (ed.), Proceedings of 2023 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol. 1082 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 13-22, Chinese Intelligent Automation Conference, CIAC 2023, Nanjing, China, 2/10/23. https://doi.org/10.1007/978-981-99-6187-0_2

Task-Space Finite-Time Prescribed Performance Tracking Control for Free-Flying Space Robots Under Input Saturation. / Zhang, Xuewen; Jia, Yingmin.
Proceedings of 2023 Chinese Intelligent Automation Conference. ed. / Zhidong Deng. Springer Science and Business Media Deutschland GmbH, 2023. p. 13-22 (Lecture Notes in Electrical Engineering; Vol. 1082 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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