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Adaptive Controller Based on Spatial Disturbance Observer in a Microgravity Environment.

Chunguang Fan1, Zongwu Xie2, Yiwei Liu3

  • 1State Key Laboratory of Robotics and System, Harbin Institute of Technology, West Dazhi Street, Harbin 150001, China. jerry_chunguang@163.com.

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Summary
This summary is machine-generated.

A novel controller enhances space manipulator performance in microgravity. This system effectively manages load variations and friction, ensuring successful on-orbit operations like maintenance and capture.

Keywords:
central controllerfriction compensatorgravity compensationspace manipulatorspatial disturbance observer

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Area of Science:

  • Robotics
  • Aerospace Engineering
  • Control Systems

Background:

  • Space manipulators face challenges in microgravity due to load variations and friction.
  • Accurate control is crucial for complex on-orbit tasks such as maintenance and capture.

Purpose of the Study:

  • To propose a new, robust controller for space manipulators operating in microgravity.
  • To enhance the precision and reliability of robotic operations in space.

Main Methods:

  • Sliding mode control to model microgravity load variations.
  • A space disturbance observer (SDO) for friction compensation.
  • Adaptive compensation using the LuGre model for velocity inversion friction.
  • Lyapunov theory for stability analysis.

Main Results:

  • The proposed controller effectively models gravity terms and compensates for friction.
  • The space disturbance observer accurately identifies friction characteristics.
  • The adaptive compensation scheme addresses lagging friction phenomena.
  • Stability of the closed-loop system is verified using Lyapunov theory.

Conclusions:

  • The developed controller demonstrates effectiveness and reliability for space manipulator tasks.
  • Successful completion of on-orbit maintenance and capture experiments validates the system.
  • The controller significantly improves the capability of robots in microgravity environments.