Manipulator Trajectory Tracking of Fuzzy Control Based on Spatial Extended State Observer | Zendy

Chunguang Fan | Zendy; Zongwu Xie | Zendy; Yiwei Liu | Zendy; Chongyang Li | Zendy; Chenglong Yu | Zendy; Hong Liu | Zendy

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Manipulator Trajectory Tracking of Fuzzy Control Based on Spatial Extended State Observer

Author(s) -

Chunguang Fan,

Zongwu Xie,

Yiwei Liu,

Chongyang Li,

Chenglong Yu,

Hong Liu

Publication year - 2020

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2020.2970493

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper mainly studies the trajectory tracking control problem of the manipulator of TianGong-2 when capturing floating objects in the experimental cabin. Microgravity environment will lead to the existing control system of space robot can not produce good control effect. Different gravity environments change the design requirements of space robots, and the ground test cannot meet these space requirements. In this paper, a fuzzy control strategy based on a spatial extended state observer(FC-SESO) is proposed to solve these inconsistent problems. First, a spatial extended state observer is designed to estimate the influence of disturbance on the system. In order to estimate the disturbance quickly and accurately, a disturbance model including gust is established. Second, in order to ensure the rapid convergence of the desired trajectory, the fuzzy control law is derived. Based on Lyapunov stability theory, the stability of the control system based on the spatial extended state observer is proven. Finally, the proposed system is simulated and captured on the Tiangong-2 manipulator platform to verify the effectiveness of the control algorithm.

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