ELM Neural Network Control of Attitude Management and Auxiliary Docking Maneuver after Dual-arm Space Robot Capturing Spacecraft
CHENG Jing, CHEN Li
Fujian Provincial Collaborative Innovation Center of High End Equipment Manufacturing, School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China
Abstract:The coordinated control problems of attitude management and auxiliary docking operation for a dual-arm space robot capturing a spacecraft are discussed. Firstly, the dynamic equations of the closed-chain composite system after the capturing operation are established by the theorem of impulse, and the geometrical and kinematic conditions of the closed-loop constraints, and the impact effect on the composite system is analyzed. Secondly, an adaptive neural network control scheme based on the extreme learning machine (ELM) is designed for the closed-chain composite system to implement the motion stabilization under attitude disturbance and the auxiliary docking operation of the system after capturing. The ELM is used to approximate unknown dynamical model of the system because it can implement fast learning and only needs to adjust the output weight values of the network. In the proposed control method, the dynamic equations of the system needn't be linearly dependent on inertial parameters, and the precise system dynamic model isn't required. The weight adaptive law of ELM network and the robust items are designed through Lyapunov method, to guarantee the motion stabilization of the base under attitude disturbance and the precise position and attitude control during docking operation. The system stability is proved. The torques are distributed by the weighted minimum-norm theory to ensure the cooperation of the manipulators. Finally, the collision impact effect and the movement process of the closed-chain system are demonstrated through numerical simulation. The proposed control scheme can efficiently complete the motion control of both the base and the load, as well as the auxiliary docking operation.
[1] Abad A F, Ma O, Pham K, et al. A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences, 2014, 68:1-26.
[2] Zhou J, Ding X, Qing Y Y. Automatic planning and coordinated control for redundant dual-arm space robot system[J]. Industrial Robot, 2011, 38(1):27-37.
[3] Holcomb L B, Montemerlo M D. NASA automation and robotics technology program[J]. IEEE Aerospace and Electronic Systems Magazine, 2009, 2(4):19-26.
[4] Nanos K. On the use of free-floating space robots in the presence of angular momentum[J]. International Service Robotics, 2011, 4(1):3-15.
[5] 洪在地,贠超,陈力.柔性臂漂浮基空间机器人建模与轨迹跟踪控制[J].机器人,2007,29(1):92-96.Hong Z D, Yun C, Chen L. Modeling and trajectory tracking control of a free-floating space robot with flexible manipulators[J]. Robot, 2007, 29(1):92-96.
[6] Cheng J, Chen L. Collision analysis for free-flying space manipulator with flexible arms capturing satellite adaptive neural network control and vibration suppression for combined system[C/CD]//67rd International Astronautical Congress. Guadalajara, Mexico:IAF, 2016.
[7] Roderick S, Roberts B, Atkins E, et al. The ranger robot servicer and its autonomous software-based safety system[J]. IEEE Intelligent Systems, 2004, 19(5):12-19.
[8] Diftler M A, Ahlstrom T D, Radford N A, et al. Robonaut2-Initial activities on-board the ISS[C]//IEEE Aerospace Conference. Piscataway, USA:IEEE, 2012:1-12.
[9] Obermark J, Greamer G, Kelm B E, et al. SUMO/FRIEND:Vision system for autonomous satellite grapple[C]//The SPIE-Sensors and System for Space Applications. Bellingham, USA:SPIE, 2007:65550Y.
[10] Sachdev S, Marcotte B, Gibbs G. Canada and the international space station program:Overview and status[C]//International Astronautical Federation-55th International Astronautical Congress 2004. Paris, France:IAF, 2004:7405-7415.
[11] Debus T J, Dougherty S P. Overview and performance of the front-end robotics enabling near-term demonstration (FREND) robotic arm[C]//AIAA Infotech and Aerospace Conference. Reston, USA:AIAA, 2009:doi:10.2514/6.2009-1870.
[12] Oda M. Space robot experiments on NASDA's ETS-VⅡ satellite[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 1999:1390-1395.
[13] 徐文福,刘厚德,李成,等.双臂空间机器人捕获运动目标的自主路径规划[J].机器人,2012,34(6):704-714.Xu W F, Liu H D, Li C, et al. Autonomous path planning of dual-arm space robot for capturing moving target[J]. Robot, 2012, 34(6):704-714.
[14] 洪昭斌,陈力.漂浮基双臂空间机器人系统的模糊神经网络自学习控制[J].机器人,2008,30(5):435-439.Hong Z B, Chen L. Fuzzy neural network self-learning control of free-floating dual-arm space robot system[J]. Robot, 2008, 30(5):435-439.
[15] 王从庆,石宗坤,袁华.自由浮动空间双臂机器人的鲁棒协调控制[J].宇航学报,2005,26(4):16-20.Wang C Q, Shi Z K, Yuan H. Robust coordinated control of a free-floating dual-arm space robot[J]. Journal of Astroanutics, 2005, 26(4):16-20.
[16] Shah S V, Sharf I, Misra A K. Reactionless path planning strategies for capture of tumbling objects in space using a dual-arm robotic system[C]//AIAA Guidance, Navigation, and Control Conference. Reston, USA:AIAA, 2013:doi:10.2514/6.2013-4521.
[17] 魏承,赵阳,田浩.空间机器人捕获漂浮目标的抓取控制[J].航空学报,2010,31(3):632-637.Wei C, Zhao Y, Tian H. Grasping control of space robot for capturing floating target[J]. Acta Aeronautica et Astronautica Sinica, 2010, 31(3):632-637.
[18] 吴剑威,史士财,刘宏,等.空间机器人目标捕获过程中的载体姿态扰动优化[J].机器人,2011,33(1):16-21.Wu J W, Shi S C, Liu H, et al. Spacecraft attitude disturbance optimization of space robot in target capturing process[J]. Robot, 2011, 33(1):16-21.
[19] Huang P, Wang D, Meng Z, et al. Adaptive postcapture backstepping control for tumbing tethered space robot-target combination[J]. Journal of Guidance, Control, and Dynamics, 2016, 39(1):150-156.
[20] Takahashi R, Ise H, Sato D, et al. Hybrid simulation of a dual-arm space robot colliding with a floating object[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2008:1202-1206.
[21] 程靖,陈力.空间机器人双臂捕获卫星力学分析及镇定控制[J].力学学报,2016,48(4):832-842.Cheng J, Chen L. Mechanical analysis and calm control of dual-arm space robot for capturing a satellite[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(4):832-842.
[22] Moosavian S F, Papadoupoulos E. On the control of space free-flyer using multiple impedance control[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 1997:853-858.
[23] Huang G B, Zhu Q Y, Siew C K. Extreme learning machine:Theory and applications[J]. Neurocomputing, 2006, 70(1):489-501.
[24] Huang G B, Wang D H, Lan Y. Extreme learning machines:A survey[J]. International Journal of Machine Learning and Cybernetics, 2011, 2(2):107-122.
[25] Slotine J E, Li W P. Applied nonlinear control[M]. London, UK:Prentice Hall, 1991.