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With the increasing demand for space operations such as capturing space debris, on-orbit assembly and satellite maintenance, the role of space robots is increasingly crucial [1]. In order to complete the takeover control of non-cooperative target, the space robot needs to gradually approach the target and adjust its capture mechanism and states to the desired value or range. During this process, the coupling uncertainty caused by unmodeled dynamic processes such as the elastic vibration of the manipulator and the sloshing of the liquid fuel on the base needs to be taken seriously [2]. In the past decades, considering the unmodeled dynamics and external disturbances of space robot systems, the research of adaptive control and intelligent control (such as neural network (NN) control and fuzzy control) has received tremendous interest, and many significant technological achievements have emerged within the realm of control design of the space robots [3–18].

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Adaptive Fault-Tolerant Prescribed Performance Control with Actuator Saturation and Faults

  • 章节

  • 发表日期：

    2025年

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  • Caisheng Wei,
  • Zeyang Yin,
  • Xia Wu,
  • Zheng Wang,
  • Xin Ning

摘要

With the increasing demand for space operations such as capturing space debris, on-orbit assembly and satellite maintenance, the role of space robots is increasingly crucial [1]. In order to complete the takeover control of non-cooperative target, the space robot needs to gradually approach the target and adjust its capture mechanism and states to the desired value or range. During this process, the coupling uncertainty caused by unmodeled dynamic processes such as the elastic vibration of the manipulator and the sloshing of the liquid fuel on the base needs to be taken seriously [2]. In the past decades, considering the unmodeled dynamics and external disturbances of space robot systems, the research of adaptive control and intelligent control (such as neural network (NN) control and fuzzy control) has received tremendous interest, and many significant technological achievements have emerged within the realm of control design of the space robots [3–18].