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Fuzzy Adaptive Disturbance-Observer-Based Robust Tracking Control of Electrically Driven Free-Floating Space Manipulator

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3 Author(s)
ZhongYi Chu ; Sch. of Instrum. Sci. & Opto-Electron., Beihang Univ., Beijing, China ; Jing Cui ; FuChun Sun

This paper is concerned with the robust tracking control of an electrically driven free-floating space manipulator with internal parameter uncertainty and external disturbance. An adaptive disturbance-observer-based output feedback control is employed to provide a solution to the control problem, wherein the parameters are tuned online by using fuzzy logic systems to compensate for equivalent disturbance, and the stability condition of the closed-loop system is also derived. The suggested method does not require exact prior knowledge of the system and needs a few parameters to tune. The simulation results of a two-link electrically driven space manipulator show the effectiveness and applicability of the proposed control scheme.

Published in:

IEEE Systems Journal  (Volume:8 ,  Issue: 2 )