TY - JOUR
T1 - In-space structural assembly using predefined performance based method
AU - Zhang, Xianliang
AU - Zhu, Weibing
AU - Wu, Xiande
AU - Song, Ting
AU - Xie, Yaen
AU - Zhao, Han
N1 - Generated from Scopus record by KAUST IRTS on 2023-09-20
PY - 2021/2/16
Y1 - 2021/2/16
N2 - Purpose: The purpose of this paper is to propose a pre-defined performance robust control method for pre-assembly configuration establishment of in-space assembly missions, and collision avoidance is considered during the configuration establishment process. Design/methodology/approach: First, six-degrees-of-freedom error kinematic and dynamic models of relative translational and rotational motion between transportation systems are developed. Second, the prescribed transient-state performance bounds of tracking errors are designed. In addition, based on the backstepping, combining the pre-defined performance control method with a robust control method, a pre-defined performance robust controller is designed. Findings: By designing prescribed transient-state performance bounds of tracking errors to guarantee that there is no overshoot, collision-avoidance can be achieved. Combining the pre-defined performance control method with a robust control method, robustness to disturbance is guaranteed. Originality/value: This paper proposed a pre-defined performance robust control method. Simulation results demonstrate that the proposed controller can achieve a pre-assembly configuration establishment with collision avoidance in the existence of external disturbances.
AB - Purpose: The purpose of this paper is to propose a pre-defined performance robust control method for pre-assembly configuration establishment of in-space assembly missions, and collision avoidance is considered during the configuration establishment process. Design/methodology/approach: First, six-degrees-of-freedom error kinematic and dynamic models of relative translational and rotational motion between transportation systems are developed. Second, the prescribed transient-state performance bounds of tracking errors are designed. In addition, based on the backstepping, combining the pre-defined performance control method with a robust control method, a pre-defined performance robust controller is designed. Findings: By designing prescribed transient-state performance bounds of tracking errors to guarantee that there is no overshoot, collision-avoidance can be achieved. Combining the pre-defined performance control method with a robust control method, robustness to disturbance is guaranteed. Originality/value: This paper proposed a pre-defined performance robust control method. Simulation results demonstrate that the proposed controller can achieve a pre-assembly configuration establishment with collision avoidance in the existence of external disturbances.
UR - https://www.emerald.com/insight/content/doi/10.1108/AEAT-05-2020-0079/full/html
UR - http://www.scopus.com/inward/record.url?scp=85092549116&partnerID=8YFLogxK
U2 - 10.1108/AEAT-05-2020-0079
DO - 10.1108/AEAT-05-2020-0079
M3 - Article
SN - 1748-8842
VL - 93
SP - 57
EP - 67
JO - Aircraft Engineering and Aerospace Technology
JF - Aircraft Engineering and Aerospace Technology
IS - 1
ER -