Nonlinear model predictive control of a planar three-link space manipulator

Sharmila Kayastha; Lingling Shi; Jay Katupitiya; Garth Pearce

doi:10.1109/ASCC.2017.8287244

Nonlinear model predictive control of a planar three-link space manipulator

Sharmila Kayastha, Lingling Shi^*, Jay Katupitiya, Garth Pearce

^*Corresponding author for this work

University of New South Wales

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

16 Citations (Scopus)

Abstract

This paper presents dynamic modeling and attitude and motion control of Free-Flying Space Robots (FFSR) in the absence of external forces and torques. Instead of thrusters, electrically powered reaction wheels are utilized to provide accurate and continuous torque. Referring to the dynamic model of the space robot system, a Nonlinear Model Predictive Control (NMPC) algorithm is developed in the task space to control the attitude of the spacecraft and the end-effector motion. The performance of NMPC is compared with that of Sliding Mode Control (SMC). The effectiveness of the proposed control algorithm is verified by simulations. When the system uncertainties are not considered, the proposed NMPC application demonstrates higher accuracy than SMC and it can be achieved without the need to linearize the dynamic equations of the FFSR.

Original language	English
Title of host publication	2017 Asian Control Conference, ASCC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	635-640
Number of pages	6
ISBN (Electronic)	9781509015733
DOIs	https://doi.org/10.1109/ASCC.2017.8287244
Publication status	Published - 7 Feb 2018
Externally published	Yes
Event	2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia Duration: 17 Dec 2017 → 20 Dec 2017

Publication series

Name	2017 Asian Control Conference, ASCC 2017
Volume	2018-January

Conference

Conference	2017 11th Asian Control Conference, ASCC 2017
Country/Territory	Australia
City	Gold Coast
Period	17/12/17 → 20/12/17

Access to Document

10.1109/ASCC.2017.8287244

Cite this

@inproceedings{4461e2a5640349b4bfc5d176759725be,

title = "Nonlinear model predictive control of a planar three-link space manipulator",

abstract = "This paper presents dynamic modeling and attitude and motion control of Free-Flying Space Robots (FFSR) in the absence of external forces and torques. Instead of thrusters, electrically powered reaction wheels are utilized to provide accurate and continuous torque. Referring to the dynamic model of the space robot system, a Nonlinear Model Predictive Control (NMPC) algorithm is developed in the task space to control the attitude of the spacecraft and the end-effector motion. The performance of NMPC is compared with that of Sliding Mode Control (SMC). The effectiveness of the proposed control algorithm is verified by simulations. When the system uncertainties are not considered, the proposed NMPC application demonstrates higher accuracy than SMC and it can be achieved without the need to linearize the dynamic equations of the FFSR.",

author = "Sharmila Kayastha and Lingling Shi and Jay Katupitiya and Garth Pearce",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 11th Asian Control Conference, ASCC 2017 ; Conference date: 17-12-2017 Through 20-12-2017",

year = "2018",

month = feb,

day = "7",

doi = "10.1109/ASCC.2017.8287244",

language = "English",

series = "2017 Asian Control Conference, ASCC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "635--640",

booktitle = "2017 Asian Control Conference, ASCC 2017",

address = "United States",

}

Kayastha, S, Shi, L, Katupitiya, J & Pearce, G 2018, Nonlinear model predictive control of a planar three-link space manipulator. in 2017 Asian Control Conference, ASCC 2017. 2017 Asian Control Conference, ASCC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 635-640, 2017 11th Asian Control Conference, ASCC 2017, Gold Coast, Australia, 17/12/17. https://doi.org/10.1109/ASCC.2017.8287244

Nonlinear model predictive control of a planar three-link space manipulator. / Kayastha, Sharmila; Shi, Lingling; Katupitiya, Jay et al.
2017 Asian Control Conference, ASCC 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 635-640 (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January).

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

TY - GEN

T1 - Nonlinear model predictive control of a planar three-link space manipulator

AU - Kayastha, Sharmila

AU - Shi, Lingling

AU - Katupitiya, Jay

AU - Pearce, Garth

PY - 2018/2/7

Y1 - 2018/2/7

N2 - This paper presents dynamic modeling and attitude and motion control of Free-Flying Space Robots (FFSR) in the absence of external forces and torques. Instead of thrusters, electrically powered reaction wheels are utilized to provide accurate and continuous torque. Referring to the dynamic model of the space robot system, a Nonlinear Model Predictive Control (NMPC) algorithm is developed in the task space to control the attitude of the spacecraft and the end-effector motion. The performance of NMPC is compared with that of Sliding Mode Control (SMC). The effectiveness of the proposed control algorithm is verified by simulations. When the system uncertainties are not considered, the proposed NMPC application demonstrates higher accuracy than SMC and it can be achieved without the need to linearize the dynamic equations of the FFSR.

AB - This paper presents dynamic modeling and attitude and motion control of Free-Flying Space Robots (FFSR) in the absence of external forces and torques. Instead of thrusters, electrically powered reaction wheels are utilized to provide accurate and continuous torque. Referring to the dynamic model of the space robot system, a Nonlinear Model Predictive Control (NMPC) algorithm is developed in the task space to control the attitude of the spacecraft and the end-effector motion. The performance of NMPC is compared with that of Sliding Mode Control (SMC). The effectiveness of the proposed control algorithm is verified by simulations. When the system uncertainties are not considered, the proposed NMPC application demonstrates higher accuracy than SMC and it can be achieved without the need to linearize the dynamic equations of the FFSR.

UR - http://www.scopus.com/inward/record.url?scp=85047521215&partnerID=8YFLogxK

U2 - 10.1109/ASCC.2017.8287244

DO - 10.1109/ASCC.2017.8287244

M3 - Conference contribution

AN - SCOPUS:85047521215

T3 - 2017 Asian Control Conference, ASCC 2017

SP - 635

EP - 640

BT - 2017 Asian Control Conference, ASCC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 11th Asian Control Conference, ASCC 2017

Y2 - 17 December 2017 through 20 December 2017

ER -

Nonlinear model predictive control of a planar three-link space manipulator

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this