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Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm
Gao Q(高庆); Liu JG(刘金国); Tian TT(田同同); Li YM(李杨民)
Department空间自动化技术研究室
Source PublicationActa Astronautica
ISSN0094-5765
2017
Volume138Pages:462-474
Indexed BySCI ; EI
EI Accession number20172603862979
WOS IDWOS:000408290900043
Contribution Rank1
KeywordAar-2 6-dof Fuzzy Sliding Mode Control Simulation
AbstractSpace robots can perform some tasks in harsh environment as assistants of astronauts or substitutions of astronauts. Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Aerospace
WOS KeywordSPACE MANIPULATOR ; HARMONIC DRIVE ; ATTITUDE ; STATION
WOS Research AreaEngineering
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20753
Collection空间自动化技术研究室
Corresponding AuthorLi YM(李杨民)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of the Chinese Academy of Sciences, Beijing 100049, China
3.Northeastern University, Shenyang, 110819, China
4.Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong
Recommended Citation
GB/T 7714
Gao Q,Liu JG,Tian TT,et al. Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm[J]. Acta Astronautica,2017,138:462-474.
APA Gao Q,Liu JG,Tian TT,&Li YM.(2017).Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm.Acta Astronautica,138,462-474.
MLA Gao Q,et al."Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm".Acta Astronautica 138(2017):462-474.
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