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Anti-disturbance iterative learning tracking control for space manipulators with repetitive reference trajectory

Jian Zhong Qiao (Beihang University School of Automation Science and Electrical Engineering, Beijing, China)
Hao Wu (Beihang University School of Automation Science and Electrical Engineering, Beijing, China)
Yukai Zhu (Beihang University School of Automation Science and Electrical Engineering, Beijing, China)
Jianwei Xu (Beihang University School of Automation Science and Electrical Engineering, Beijing, China)
Wenshuo Li (Beihang University School of Automation Science and Electrical Engineering, Beijing, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 5 August 2019

Abstract

Purpose

This paper is concerned with the repetitive trajectory tracking control for space manipulators under model uncertainties and vibration disturbances.

Design/methodology/approach

The model uncertainties and link vibration of manipulators will degrade the tracking performance of space manipulators; in this paper, a new hybrid control scheme that consists of a composite hierarchical anti-disturbance controller and an iterative learning controller is developed to solve this problem.

Findings

The composite hierarchical controller can effectively attenuate model uncertainties and reject vibration disturbances, whereas the iterative learning controller is able to improve the tracking accuracy for repetitive reference trajectory.

Originality/value

The proposed scheme compensates for the shortcomings of iterative learning control which can only deal with repetitive disturbances, ensuring the accuracy and repeatability of space manipulators under model uncertainties and random disturbances.

Keywords

Acknowledgements

Funding information: National Natural Science Foundation of China; 61320106010; 61421063; 61603021; 61627810; 61633003; 61661136007; Program for Changjiang Scholars and Innovative Research Team x; IRT_16R03.

Citation

Qiao, J.Z., Wu, H., Zhu, Y., Xu, J. and Li, W. (2019), "Anti-disturbance iterative learning tracking control for space manipulators with repetitive reference trajectory", Assembly Automation, Vol. 39 No. 3, pp. 401-409. https://doi.org/10.1108/AA-12-2017-176

Publisher

:

Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited