Fuzzy disturbance-observer based control of electrically driven free-floating space manipulator

Authors:
Zhongyi Chu;Jing Cui
Affiliations:
School of Instrument and Opto-Electronics, Beihang Uiversity, Beijing;School of Instrument and Opto-Electronics, Beihang Uiversity, Beijing
Venue:
ISNN'11 Proceedings of the 8th international conference on Advances in neural networks - Volume Part III
Year:
2011

Citing 4
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Abstract

This paper is concerned with the robust tracking control of an electrically driven free-floating space manipulator with internal parameter uncertainty and external disturbance, a fuzzy disturbanceobserver based output feedback control are employed to provide the solution to the control problem. Wherein, the parameters are tuned online by using fuzzy logic systems to compensate equivalent disturbance, and the stability condition of the closed-loop system is also derived.The suggested method does not require exact prior knowledge of the system and less parameters to tune. Simulation results from a two-link electrically driven space manipulator show the effectiveness and applicability of the proposed control scheme.