TRAJECTORY PLANNING AND HIERARCHICAL SLIDING-MODE CONTROL OF UNDERACTUATED SPACE ROBOTIC SYSTEM, 436-443.

Zhanxia Zhu, Jianfei Zhong, Mengzhao Ding, and Mingming Wang

References

  1. [1] A. Flores-Abad, O. Ma, K. Pham, and S. Ulrich, A review of space robotics technologies for on-orbit servicing, Progress in Aerospace Sciences, 68(7), 2014, 1–26.
  2. [2] S. Tang and Q. Zhang, Research on the fault-tolerant control of redundant robots, Chinese Journal of Mechanical Engineering, 36(7), 2000, 34–38.
  3. [3] M. Reyhanoglu, A. van der Schaft, N.H. McClamroch, and I. Kolmanovsky, Dynamics and control of a class of underactuated mechanical systems, IEEE Transactions on Automatic Control, 44(9), 1999, 1663–1671.
  4. [4] S.C. Duong, H. Kinjo, E. Uezato, and T. Yamamoto, Intelligent control of a three-DOF planar underactuated manipulator, Artificial Life and Robotics, 14(2), 2009, 284–288.
  5. [5] A.D. Luca and G. Oriolo, Motion planning and trajectory control of an underactuated three-link robot via dynamic feedback linearization, Proc. 2000 IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, 2000, 24–28.
  6. [6] G.P. He, Z. Lu, and F.X. Wang, Dynamic control space-robot arm with passive joints, Chinese Journal of Space Science, 21(1), 2001, 73–80.
  7. [7] A.D. Mahindrakar, S. Rao, and R.N. Banavar, Point-to-point control of a 2R planar horizontal underactuated manipulator, Mechanism and Machine Theory, 41(7), 2006, 838–844.
  8. [8] Z. Lin, Hierarchical variable structure sliding mode control for robots with underactuated joints, Master’s Dissertation, Harbin Engineering University, Harbin, China, 2006.
  9. [9] W. Xu, C. Li, X. Wang, et al., Study on non-holonomic cartesian path planning of a free-floating space robotic system, Advanced Robotics, 23(1–2), 2009, 113–143.
  10. [10] Y. Shi, B. Liang, X. Wang, and W. Xu, Cartesian non-holonomic path planning of space robot based on quantum-behaved particle swarm optimization algorithm, Journal of Mechanical Engineering, 47(23), 2011, 65–73.
  11. [11] S. Zhao, B. Siciliano, Z. Zhu, A. Guti´errez-Giles, and J. Luo, Multi-waypoint-based path planning for free-floating space robots, International Journal of Robotics and Automation, 34(5), 2019, 461–467.
  12. [12] J. Kennedy and R. Eberhart, Particle swarm optimization, Proc. 1995 IEEE Int. Conf. on Neural Networks, Perth, Australia, 1995, 1942–1948.
  13. [13] N. Geng, X. Sun, D. Gong, and Z. Yong, Solving robot path planning in an environment with terrains based on interval multi-objective PSO, International Journal of Robotics and Automation, 31(2), 2016, 100–110.
  14. [14] H. Gao, X. Song, L. Ding, and Z. Deng, Adaptive tracking control of nonholonomic systems based on feedback error learning, International Journal of Robotics and Automation, 28(4), 2013, 371–378.
  15. [15] G. Oriolo and Y. Nakamura, Control of mechanical systems with second-order nonholonomic constraints: underactuated manipulators, Proc. 30th IEEE Conf. on Decision and Control, Brighton, England, 1991, 2398–2403.
  16. [16] W. Wang, J. Yi, D. Zhao, and D. Liu, Design of a stable sliding-mode controller for a class of second-order underactuated systems, IEEE Proceedings-Control Theory and Applications, 151(5), 2004, 683–690.
  17. [17] H. Ce, Y. Wang, H. Wang, et al., Model-free adaptive control for time-varying trajectory tracking of non-line systems, International Journal of Robotics and Automation, 34(1), 2019, 71–77.
  18. [18] T. Rybus, K. Seweryn, J.Z. Sasiadek, Control system for free-floating space manipulator based on nonlinear model predictive control (NMPC). Journal of Intelligent & Robotic Systems, 85(3–4), 2017, 491–509
  19. [19] W. Zhang, Z. Liang, X. Sun, et al., Path following control for an under-actuated UUV based on adaptive sliding mode control, International Journal of Robotics and Automation, 32(5), 2017, 458–470.
  20. [20] X. Zhang, D. Wang, and J. Li, Simulation design of sliding-mode control reaching law, Microprocessors, 29(1), 2008, 80–81.
  21. [21] J.J. Slotine and S.S. Sastry, Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators, International Journal of Control, 38(2), 1983, 465–492.
  22. [22] J. Zhou, Backstepping adaptive fuzzy control for uncertain robot manipulator, International Journal of Robotics and Automation, 33(6), 2018, 620–627.
  23. [23] S. Islam, X. P. Liu, A. El Saddik, Adaptive sliding mode control of unmanned for rotor flying vehicle, International Journal of Robotics and Automation, 30(2), 2015, 140–148.
  24. [24] D.C. Theodoridis, Y.S. Boutalis, and M.A. Christodoulou, A new adaptive neuro-fuzzy controller for trajectory tracking of robot manipulators, International Journal of Robotics and Automation, 26(1), 2011, 64–75.
  25. [25] J. Fei and Z. Yuan, Adaptive tracking control of MEMS gyroscope using dynamic sling mode controller, International Journal of Robotics and Automation, 29(3), 2014, 296–304.

Important Links:

Go Back