Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input
For the problem of large joint angular velocity and high input in the trajectory planning and control of robots, an explicit-time trajectory tracking for a state-constraint continuum free-floating space robot with smooth joint-path and low input is proposed. Employing the piecewise constant curvatur...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-03-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/5/2730 |
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| author | Rui Tang Yicheng Liu Jialing Yang Xiang Ma Wen Yan |
| author_facet | Rui Tang Yicheng Liu Jialing Yang Xiang Ma Wen Yan |
| author_sort | Rui Tang |
| collection | DOAJ |
| description | For the problem of large joint angular velocity and high input in the trajectory planning and control of robots, an explicit-time trajectory tracking for a state-constraint continuum free-floating space robot with smooth joint-path and low input is proposed. Employing the piecewise constant curvature (PCC) assumption as the modeling foundation for the continuum space robot and utilizing modified Rodriguez parameters (MRPs) to describe attitude errors, a pose error feedback kinematic model for the continuum space robot is established. Based on the Lagrangian method, a dynamic model for the continuum space robot is developed. Explicit time theory and pose feedback methods are employed for the trajectory planning of the continuum space robot. Using explicit time theory and sliding mode control, tracking control for the planned joint trajectory is conducted. The Lyapunov theory is utilized to demonstrate the convergence of the system tracking error within the explicit time. Finally, the combination of trajectory planning and tracking control enhances the control performance of the continuum space robot. Simulation results validate the effectiveness of the proposed methods. |
| format | Article |
| id | doaj-art-11f19632fffb49f193e28b6b8adffc00 |
| institution | DOAJ |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-11f19632fffb49f193e28b6b8adffc002025-08-20T02:57:40ZengMDPI AGApplied Sciences2076-34172025-03-01155273010.3390/app15052730Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low InputRui Tang0Yicheng Liu1Jialing Yang2Xiang Ma3Wen Yan4The College of Electrical Engineering, Sichuan University, Wuhou District, Chengdu 610000, ChinaThe College of Electrical Engineering, Sichuan University, Wuhou District, Chengdu 610000, ChinaThe College of Electrical Engineering, Sichuan University, Wuhou District, Chengdu 610000, ChinaThe College of Electrical Engineering, Sichuan University, Wuhou District, Chengdu 610000, ChinaThe College of Electrical Engineering, Sichuan University, Wuhou District, Chengdu 610000, ChinaFor the problem of large joint angular velocity and high input in the trajectory planning and control of robots, an explicit-time trajectory tracking for a state-constraint continuum free-floating space robot with smooth joint-path and low input is proposed. Employing the piecewise constant curvature (PCC) assumption as the modeling foundation for the continuum space robot and utilizing modified Rodriguez parameters (MRPs) to describe attitude errors, a pose error feedback kinematic model for the continuum space robot is established. Based on the Lagrangian method, a dynamic model for the continuum space robot is developed. Explicit time theory and pose feedback methods are employed for the trajectory planning of the continuum space robot. Using explicit time theory and sliding mode control, tracking control for the planned joint trajectory is conducted. The Lyapunov theory is utilized to demonstrate the convergence of the system tracking error within the explicit time. Finally, the combination of trajectory planning and tracking control enhances the control performance of the continuum space robot. Simulation results validate the effectiveness of the proposed methods.https://www.mdpi.com/2076-3417/15/5/2730continuum space robotexplicit timesliding mode controltrajectory planningtrajectory tracking |
| spellingShingle | Rui Tang Yicheng Liu Jialing Yang Xiang Ma Wen Yan Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input Applied Sciences continuum space robot explicit time sliding mode control trajectory planning trajectory tracking |
| title | Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input |
| title_full | Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input |
| title_fullStr | Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input |
| title_full_unstemmed | Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input |
| title_short | Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input |
| title_sort | explicit time trajectory tracking for a state constraint continuum free floating space robot with smooth joint path and low input |
| topic | continuum space robot explicit time sliding mode control trajectory planning trajectory tracking |
| url | https://www.mdpi.com/2076-3417/15/5/2730 |
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