Predefined-Time Tracking Control of a Free-Flying Space Robot on SE(3)
Shidong Xu, Ti Chen, Hao Wen, Dongping Jin
Abstract: This article is concerned with the geometric tracking control of a free-flying space robot with predefined-time stability. To overcome the singularity and nonuniqueness issues in attitude representation, kinematics and dynamics of the space robot are formulated on SE（3）.By virtue of the geometric description and proper configuration error functions, the mathematical model for pose (translation and orientation) tracking errors is further established. Different from the existing results on space robot control, a geometric dynamic surface controller is designed for fulfilling the position and orientation tracking of the space robot living on SE（3）within a predefined time. Furthermore, the predefined-time stability of the controlled system is rigorously proven according to Lyapunov stability theory. Finally, numerical studies are performed to verify the effectiveness and performance of the developed control algorithm.
文章链接：https://ieeexplore.ieee.org/document/10526398
