Adaptive Fault-Tolerant Control for Free-Floating Space Manipulator with Parameter Uncertainties

Chen Yang, Chenliang Wang, Ziming Li, Xudong Han

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

In this paper, an adaptive fault-tolerant control scheme is proposed for the free-floating space manipulator (FFSM) with unknown parameters of dynamic model and actuator faults. In control design for the FFSM, because of unknown loads or tools attached to the manipulator, the structure parameters of the FFSM will change, which leads to uncertainties in the FFSM dynamic model. Meanwhile the space manipulator is prone to failure in the long-term operation. For the above two issues, we propose a control method based on direct adaptation of uncertainties with linear parametrization of dynamic model. Further, time-varying actuator faults are handled by estimating the bounds of unknown parameters in the fault model. Simulation is carried out to demonstrate the validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings - 2019 Chinese Automation Congress, CAC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2238-2243
Number of pages6
ISBN (Electronic)9781728140940
DOIs
Publication statusPublished - Nov 2019
Externally publishedYes
Event2019 Chinese Automation Congress, CAC 2019 - Hangzhou, China
Duration: 22 Nov 201924 Nov 2019

Publication series

NameProceedings - 2019 Chinese Automation Congress, CAC 2019

Conference

Conference2019 Chinese Automation Congress, CAC 2019
Country/TerritoryChina
CityHangzhou
Period22/11/1924/11/19

Keywords

  • Adaptive control
  • actuator faults
  • space manipulator
  • uncertain parameters

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