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Nonlinear Tracking Differentiator Based Prescribed Performance Control for Space Manipulator

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  • Control Theory and Applications
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Abstract

A low-complexity prescribed performance controller is proposed for motion tracking control of a space manipulator in this paper. First of all, a prescribed-time prescribed performance function is designed. Based on the function, the proposed controller is capable of guaranteeing the system transient and steady-state control performances satisfy the prescribed boundary constraints. Moreover, all tracking errors converge to stability domains before the user-defined settling time. A nonlinear tracking differentiator based on a hyperbolic sine function is adopted to estimate the derivatives of joint angles and reconstruct the angular velocity for the controller, which lowers hardware requirements for the controlled system to a certain extent. Without any time-consuming operations and model information, the proposed control scheme has a superiority in low computation complexity and robustness against model uncertainties. With the Lyapunov theory, the prescribed-time stability within prescribed performances of the closed-loop has been rigorously proven. Numerical simulation and the comparison with the traditional prescribed performance control demonstrates the effectiveness and superior performances of the proposed control scheme.

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Author information

Authors and Affiliations

  1. Department of Aerospace Engineering, Harbin Institute of Technology, 92 West Dazhi Street, Nangang Dist., Harbin, 150001, China

    Yidi Fan & Wuxing Jing

  2. Department of Aerospace Science and Technology, Politecnico di Milano, 34 Via La Masa, Milan, 20156, Italy

    Franco Bernelli-Zazzera

Authors
  1. Yidi Fan
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  2. Wuxing Jing
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  3. Franco Bernelli-Zazzera
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Corresponding author

Correspondence to Yidi Fan.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work was supported by National Natural Science Foundation of China (Grant No. 11572097), and Aerospace Science and Technology Innovation Foundation of China (Grant No. 6141B06030201).

Yidi Fan is currently working toward a Ph.D. degree in aerospace engineering at Harbin Institute of Technology. Her research interests include space robot modeling and control and spacecraft navigation and control.

Wuxing Jing is a Professor and Doctoral Supervisor at Harbin Institute of Technology. He received his M.S. degree in flight mechanics and a Ph.D. degree in general mechanics both from Harbin Institute of Technology of China, in 1989 and 1994, respectively. His research interests include spacecraft dynamics and control, nonlinear guidance, and autonomous navigation.

Franco Bernelli-Zazzera is a Professor and Doctoral Supervisor at Politecnico di Milano. He received his M.S. degree in aeronautical engineering and a Ph.D. degree in aerospace engineering both from Politecnico di Milano of Italy, in 1985 and 1990, respectively. His research interests include spacecraft dynamics and control, trajectory optimization, and autonomous navigation.

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Fan, Y., Jing, W. & Bernelli-Zazzera, F. Nonlinear Tracking Differentiator Based Prescribed Performance Control for Space Manipulator. Int. J. Control Autom. Syst. 21, 876–889 (2023). https://doi.org/10.1007/s12555-021-0288-5

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  • DOI: https://doi.org/10.1007/s12555-021-0288-5

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