Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance
This paper presents a tracking control with guaranteed prescribed performance (PP) for space free-flying robots with uncertain kinematics (Jacobian matrix) and dynamics, uncertain normal force parameter, and bounded disturbances in a compliant contact with a planar surface. Given the orientation of...
| Main Authors: | , , , , |
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| Format: | Journal Article |
| Published: |
Elsevier Science BV
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/61328 |
| _version_ | 1848760679779008512 |
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| author | Jiang, C. Teo, Kok Lay Xu, Honglei Caccetta, Louis Duan, G. |
| author_facet | Jiang, C. Teo, Kok Lay Xu, Honglei Caccetta, Louis Duan, G. |
| author_sort | Jiang, C. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a tracking control with guaranteed prescribed performance (PP) for space free-flying robots with uncertain kinematics (Jacobian matrix) and dynamics, uncertain normal force parameter, and bounded disturbances in a compliant contact with a planar surface. Given the orientation of the surface and a nonlinear model of the elastic force, a controller is designed requiring no information on the robot parameters and the disturbances. This controller will guarantee that the tracking errors satisfy PP indexes such as the maximum steady-state errors and overshoots, and the minimum convergence rates. Thus, contact maintenance can be ensured as prescribed. An approximation of the Jacobian is utilized in the presence of uncertain robot kinematics, and PP position/attitude tracking of the free-flying base is achieved in addition to the PP force/position tracking of the manipulator's fingertip. The proposed controller is based on an error transformation technique, and a directly tunable gain for the transformed error feedback is introduced in the control to trade off between the tracking performance and control effort. Numerical simulations and comparisons demonstrate the effectiveness and superiority of the proposed controller. |
| first_indexed | 2025-11-14T10:19:37Z |
| format | Journal Article |
| id | curtin-20.500.11937-61328 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T10:19:37Z |
| publishDate | 2015 |
| publisher | Elsevier Science BV |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-613282018-01-30T08:22:29Z Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance Jiang, C. Teo, Kok Lay Xu, Honglei Caccetta, Louis Duan, G. This paper presents a tracking control with guaranteed prescribed performance (PP) for space free-flying robots with uncertain kinematics (Jacobian matrix) and dynamics, uncertain normal force parameter, and bounded disturbances in a compliant contact with a planar surface. Given the orientation of the surface and a nonlinear model of the elastic force, a controller is designed requiring no information on the robot parameters and the disturbances. This controller will guarantee that the tracking errors satisfy PP indexes such as the maximum steady-state errors and overshoots, and the minimum convergence rates. Thus, contact maintenance can be ensured as prescribed. An approximation of the Jacobian is utilized in the presence of uncertain robot kinematics, and PP position/attitude tracking of the free-flying base is achieved in addition to the PP force/position tracking of the manipulator's fingertip. The proposed controller is based on an error transformation technique, and a directly tunable gain for the transformed error feedback is introduced in the control to trade off between the tracking performance and control effort. Numerical simulations and comparisons demonstrate the effectiveness and superiority of the proposed controller. 2015 Journal Article http://hdl.handle.net/20.500.11937/61328 10.1016/j.robot.2015.05.014 Elsevier Science BV restricted |
| spellingShingle | Jiang, C. Teo, Kok Lay Xu, Honglei Caccetta, Louis Duan, G. Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance |
| title | Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance |
| title_full | Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance |
| title_fullStr | Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance |
| title_full_unstemmed | Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance |
| title_short | Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance |
| title_sort | adaptive jacobian force/position tracking for space free-flying robots with prescribed transient performance |
| url | http://hdl.handle.net/20.500.11937/61328 |