Abstract
A model-based six-degrees-of-freedom relative motion coordinated control approach is proposed based on the adaptive hierarchical fuzzy logic system and the adaptive backstepping technique for the relative position tracking and attitude synchronization between feature points of two rigid bodies subject to control input constraints, output constraints, and model uncertainties. The control input saturation is compensated by the nonlinear anti-windup compensator, and the output constraints are handled by the barrier Lyapunov function-based backstepping design. The unknown misalignment vector of the feature point with respect to the center of the mass for the chaser is estimated by the element-wise adaptive law, while the model uncertainties and unknown dynamical couplings are compensated by the adaptive hierarchical fuzzy logic system to decrease the computational burden with respect to the traditional adaptive fuzzy systems. The ultimately uniformly bounded convergence of the relative pose and relative velocities is analyzed in the Lyapunov framework and the effectiveness of the proposed approach is validated by the numerical simulations.
Highlights
T HE pose motion control of the rigid body is a hot topic in the automation field for many years, since it is the physical nature of many kinds of man-made moving bodies in practice, such as the motions of automotive vehicles [1], aircrafts [2], spacecraft [3], marine vessels [4] and formations [5]
Based on the observations of previous studies on adaptive hierarchical fuzzy control for the rigid bodies subject to input and output constraints, this study focuses on the modelbased relative position tracking and attitude synchronization control system design for feature points of two fully-actuated rigid bodies named chaser and target, where the six-degreesof-freedom relative motion model of two feature points is established based on the classical Newton-Euler method, while the model uncertainties and constraints are considered in the control design
Based on the relative pose dynamics between feature points of two rigid bodies, the saturated intelligent adaptive pose coordination controller is developed by combining the adaptive hierarchical fuzzy logic system and robust adaptive backstepping technique
Summary
T HE pose motion control of the rigid body is a hot topic in the automation field for many years, since it is the physical nature of many kinds of man-made moving bodies in practice, such as the motions of automotive vehicles [1], aircrafts [2], spacecraft [3], marine vessels [4] and formations [5]. The relative motion between two vehicles is very common in advanced modern industry, such as the air refueling [6], shipboard landing [7], space docking [8] and underwater docking [9] In these missions, the close-range relative pose motion model should be established carefully for the model-based control system design. Based on the observations of previous studies on adaptive hierarchical fuzzy control for the rigid bodies subject to input and output constraints, this study focuses on the modelbased relative position tracking and attitude synchronization control system design for feature points of two fully-actuated rigid bodies named chaser and target, where the six-degreesof-freedom relative motion model of two feature points is established based on the classical Newton-Euler method, while the model uncertainties and constraints are considered in the control design.
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