Adaptive Predefined-Time Attitude Stabilization Control of Space Continuum Robot
Meng Ding, Hailei Wu, Xianjie Zheng, Yu Guo
Abstract
This brief investigates the predefined-time stabilization attitude control for multi-segment cable-driven space continuum robot system in the presence of external time-varying disturbances. By utilizing the theorem of practical predefined-time stability, an adaptive attitude controller based on a nonsingular terminal sliding mode is developed, so that the attitude error can converge into a small neighborhood of the origin within a predefined time. A suitable Lyapunov function is chosen to prove the stability of the robot system. The numerical simulation results demonstrate the effectiveness and superiority of the proposed control strategy.
Topics & Concepts
Control theory (sociology)Lyapunov functionStability (learning theory)Controller (irrigation)Computer scienceInvertible matrixAdaptive controlAttitude controlStability theoryControl (management)MathematicsControl engineeringEngineeringArtificial intelligencePhysicsMachine learningBiologyNonlinear systemQuantum mechanicsPure mathematicsAgronomySpace Satellite Systems and ControlAdaptive Control of Nonlinear SystemsSoft Robotics and Applications