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Post-capture tracking control with fixed-time convergence for a free-flying flexible-joint space robot based on adaptive neural network

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Abstract

Aiming to achieve rapid and precise trajectory tracking for a free-flying flexible-joint space robot (FFSR) when capturing a space target with unknown mass, we developed a nonsingular fixed-time adaptive neural control scheme via backstepping technique. Radial basis function neural networks are employed to deal with the system uncertainties caused by the captured target and external disturbances. Two fixed-time auxiliary systems are designed to attenuate the impact of excessive initial nominal control input and to ensure the control system stability in the presence of physical constraints on the actuators. Moreover, a novel dynamic surface control technique is adopted to handle the complexity explosion generated by multiple derivatives of the virtual control signals. Theoretical analysis demonstrates that the FFSR system is semiglobally fixedtimely uniformly ultimately bounded and the tracking error can converge to a very small bound within fixed time. Finally, the simulation results verify the effectiveness of the proposed controller.

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Funding

This work was supported by the National Natural Science Foundation of China (Grant number: 61973167), Jiangsu Funding Program for Excellent Postdoctoral Talent, and Postgraduate Research & Practice Innovation Program of Jiangsu Province (Grant numbers: KYCX20_0296).

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Authors and Affiliations

  1. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

    Liaoxue Liu, Yuye Lu, Xiutao Gu, Yifei Wu & Yu Guo

Authors
  1. Liaoxue Liu
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  2. Yuye Lu
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  3. Xiutao Gu
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  4. Yifei Wu
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  5. Yu Guo
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Liaoxue Liu. The first draft of the manuscript was written by Liaoxue Liu and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

Corresponding author

Correspondence to Yu Guo.

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Liu, L., Lu, Y., Gu, X. et al. Post-capture tracking control with fixed-time convergence for a free-flying flexible-joint space robot based on adaptive neural network. Neural Comput & Applic 36, 4661–4677 (2024). https://doi.org/10.1007/s00521-023-09281-7

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  • DOI: https://doi.org/10.1007/s00521-023-09281-7

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