Dynamic velocity error based trajectory tracking for space robotic manipulator

Abstract

In this paper, proportional derivative control has been explored further to devise dynamic velocity error-based controller for trajectory tracking of space robotic manipulator. The dynamic velocity error is defined using the difference between current velocity and dynamic desired velocity, which is calculated based on the current position and successive desired position. The dynamic velocity error-based controller consists only of the derivative term, unlike conventional proportional derivative control which consists of both proportional as well as derivative terms. Although proposed dynamic velocity error-based controller is simple and robust, the modified versions of direct and indirect adaptive controllers are also presented utilizing dynamic velocity error to handle external disturbances and internal uncertainties in non linear dynamics. Lyapunov theory is employed to prove the stability of the closed-loop system. The main advantage of the dynamic velocity error based controller is that it is as simple as a proportional derivative controller and as robust as adaptive controllers. Finally, the effectiveness of the proposed control designs is validated using numerical simulations, and a comparative study of various control designs has also been provided to substantiate the claims further.