The Fuzzy Neural Network Control Scheme with H∞ Tracking Characteristic of Space Robot System with Dual-arm after Capturing a Spin Spacecraft

doi:10.1109/JAS.2018.7511180

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	The Fuzzy Neural Network Control Scheme with H∞ Tracking Characteristic of Space Robot System with Dual-arm after Capturing a Spin Spacecraft
	Jing Cheng; Li Chen
刊名	IEEE/CAA Journal of Automatica Sinica
	2020
卷号	7 期号:5 页码:1417-1424
关键词	Capturing operation calm motion control closed chain system dual-arm space robot recurrent fuzzy neural network HH∞ tracking characteristic.
ISSN号	2329-9266
DOI	10.1109/JAS.2018.7511180
英文摘要	In this paper, the dynamic evolution for a dual-arm space robot capturing a spacecraft is studied, the impact effect and the coordinated stabilization control problem for post-impact closed chain system are discussed. At first, the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach, and the dynamic equations of a spacecraft are obtained by Newton-Euler method. Based on the results, with the process of integral and simplify, the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law. The closed chain system is formed in the post-impact phase. Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics. With the closed chain constraint equations, the composite system dynamic equations are derived. Secondly, the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter. In order to overcome the effects of uncertain system inertial parameters, the recurrent fuzzy neural network is used to approximate the unknown part, the control method with HH∞ tracking characteristic. According to the Lyapunov theory, the global stability is demonstrated. Meanwhile, the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators. At last, numerical examples simulate the response of the collision, and the efficiency of the control scheme is verified by the simulation results.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43048]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Jing Cheng,Li Chen. The Fuzzy Neural Network Control Scheme with H∞ Tracking Characteristic of Space Robot System with Dual-arm after Capturing a Spin Spacecraft[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(5):1417-1424.
APA	Jing Cheng,&Li Chen.(2020).The Fuzzy Neural Network Control Scheme with H∞ Tracking Characteristic of Space Robot System with Dual-arm after Capturing a Spin Spacecraft.IEEE/CAA Journal of Automatica Sinica,7(5),1417-1424.
MLA	Jing Cheng,et al."The Fuzzy Neural Network Control Scheme with H∞ Tracking Characteristic of Space Robot System with Dual-arm after Capturing a Spin Spacecraft".IEEE/CAA Journal of Automatica Sinica 7.5(2020):1417-1424.