Λεπτομέρειες βιβλιογραφικής εγγραφής
| Τίτλος: |
Finite-time non-fragile performance-constrained control for free-flying flexible-joint space robots with actuator saturation. |
| Συγγραφείς: |
Gao, Dingfeng1 (AUTHOR), Dong, Zhicai1 (AUTHOR), Mao, Jianheng1 (AUTHOR), Liu, Liaoxue1 (AUTHOR) liaoxueliu@njust.edu.cn, Guo, Yu1 (AUTHOR) |
| Πηγή: |
Advances in Space Research. Aug2026, Vol. 78 Issue 3, p2827-2842. 16p. |
| Θεματικοί όροι: |
*Space robotics, *Control theory (Engineering), *Fault-tolerant control systems, *Lyapunov functions, *Constraints (Physics) |
| Περίληψη: |
This paper investigates a finite-time non-fragile performance-constrained control strategy within the command-filtered backstepping framework to address the challenge of high-performance control for free-flying flexible-joint space robots (FFSRs) with actuator saturation and asymmetric performance constraint. Firstly, a novel non-singular asymmetric logarithmic barrier Lyapunov function (NALBLF) is developed to address asymmetric performance constraint. Secondly, a finite-time delayed-activation anti-saturation (FDAA) strategy is designed to improve the control performance of the space robot under actuator saturation. Furthermore, an adaptive boundary compensation mechanism (ABCM) is proposed to dynamically adjust the boundary, mitigating the conflict between actuator saturation and performance constraint subject to sudden disturbance caused by the collision with space debris. Simulation results demonstrate the designed strategy enables space robots to exhibit excellent dynamic performance despite actuator saturation and asymmetric constraint. [ABSTRACT FROM AUTHOR] |
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