Adaptive Deep Learning-Driven Motion Control for Reaction-Free Space Manipulators
DOI:
https://doi.org/10.60087/jklst.v3.n4.p313Abstract
An advanced adaptive control strategy for zero-reaction motion control in free-floating space manipulators subject to kinematic and dynamic uncertainties. The primary challenge in developing the adaptive Reaction Null-Space (RNS)-based control framework lies in deriving a linearized formulation essential for adaptive control methods. This research addresses this issue by effectively extracting a novel linear expression, which enables the design of an adaptive RNS-based controller. Termed as the Adaptive Deep Learning-Enhanced Zero Reaction Motion Controller, this framework operates at the velocity level while incorporating both kinematic and dynamic unpredictability. Notably, we incorporate deep learning to enhance adaptability by approximating uncertain dynamics and to facilitate real-time parameter adjustments. The resulting controller achieves simultaneous attitude regulation of the spacecraft and accurate trajectory tracking of the end-effector. The efficacy and robustness of the proposed adaptive controller, augmented with deep learning, are demonstrated through numerical simulations on a planar 6-DOF (degree-of-freedom) space manipulator, highlighting its potential in complex space operations.
Downloads
References
. Mahmon, Nur Anis, and Norsuzila Ya'acob. "A review on classification of satellite image using Artificial Neural Network (ANN)." 2014 IEEE 5th Control and system grad-uate research colloquium. IEEE, 2014.
. Kadhim, Mohammed Abbas, and Mohammed Hamzah Abed. "Convolutional neural network for satellite image classification." Intelligent Information and Database Sys-tems: Recent Developments 11 (2020): 165-178.
. Ke, Xinda, Anjie Jiang, and Ning Lu. "Load profile analysis and short-term building load forecast for a univer-sity campus." 2016 IEEE Power and Energy Society General Meeting (PESGM). IEEE, 2016.
. Luzi, Alexandru‐Razvan, et al. "Structured adaptive attitude control of a satellite." International Journal of Adaptive Control and Signal Processing 28.7-8 (2014): 664-685.
. Jiang, Anjie. "Building Load Analysis and Forecast-ing--A Case Study of the Building Load of the North Caro-lina State University Centennial Campus." (2014).
. Nair, Asha P., N. Selvaganesan, and V. R. Lalithambika. "Lyapunov based PD/PID in model reference adaptive con-trol for satellite launch vehicle systems." Aerospace Science and Technology 51 (2016): 70-77.
. Liu, Rui, et al. "Enhanced detection classification via clustering svm for various robot collaboration task." arXiv preprint arXiv:2405.03026 (2024).
. Wang, Zhi, Farshad Khorrami, and Walter Grossman. "Robust adaptive control of formationkeeping for a pair of satellites." Proceedings of the 2000 American Control Con-ference. ACC (IEEE Cat. No. 00CH36334). Vol. 2. IEEE, 2000.
. Gao, Longsen, et al. "Autonomous multi-robot servicing for spacecraft operation extension." 2023 IEEE/RSJ Inter-national Conference on Intelligent Robots and Systems (IROS). IEEE, 2023.
. Pongvthithum, R., et al. "Universal adaptive control of satellite formation flying." International Journal of Con-trol 78.1 (2005): 45-52.
. Zhang, Ye, et al. "Development and application of a monte carlo tree search algorithm for simulating da vinci code game strategies." arXiv preprint arXiv:2403.10720 (2024).
. Haberl, Jeff S., et al. Methodology to Develop the Airport Terminal Building Energy Use Intensity (ATB-EUI) Benchmarking Tool. No. ACRP 09-10. 2015.
. Zhang, Ye, et al. "Self-adaptive robust motion planning for high dof robot manipulator using deep mpc." 2024 3rd International Conference on Robotics, Artificial Intelligence and Intelligent Control (RAIIC). IEEE, 2024.
. Mo, Kangtong, et al. "Precision Kinematic Path Opti-mization for High-DoF Robotic Manipulators Utilizing Ad-vanced Natural Language Processing Models." 2024 5th International Conference on Electronic Communication and Artificial Intelligence (ICECAI). IEEE, 2024.
. Zhang, Ye, et al. "Enhancing Text Authenticity: A Novel Hybrid Approach for AI-Generated Text Detection." arXiv preprint arXiv:2406.06558 (2024).
. Gao, Longsen, Claus Danielson, and Rafael Fierro. "Adaptive robot detumbling of a non-rigid satellite." arXiv preprint arXiv:2407.17617 (2024).
. Zhang, Ye, et al. "Deepgi: An automated approach for gastrointestinal tract segmentation in mri scans." arXiv preprint arXiv:2401.15354 (2024).
. Monopoli, Richard. "Model reference adaptive control with an augmented error signal." IEEE Transactions on Au-tomatic Control 19.5 (1974): 474-484.
. Tan, Lianghao, et al. "Enhanced self-checkout system for retail based on improved YOLOv10." Journal of Imaging 10.10 (2024): 248.
. Lam, Quang M. "Robust and adaptive reconfigurable control for satellite attitude control subject to un-der-actuated control condition of reaction wheel assem-bly." Mathematics in Engineering, Science & Aerospace (MESA) 9.1 (2018).
. Zhu, Mengran, et al. "Ensemble methodology: Innova-tions in credit default prediction using lightgbm, xgboost, and localensemble." arXiv preprint arXiv:2402.17979 (2024).
. Thakur, Divya, Sukumar Srikant, and Maruthi R. Akella. "Adaptive attitude-tracking control of spacecraft with uncertain time-varying inertia parameters." Journal of guidance, control, and dynamics 38.1 (2015): 41-52.
. Jiang, Anjie. "A Simplified Dynamic Model of DFIG-based Wind Generation for Frequency Support Con-trol Studies.”
. Nguyen-Huynh, Thai Chau, and Inna Sharf. "Adaptive reactionless motion and parameter identification in post-capture of space debris." Journal of Guidance, Control, and Dynamics 36.2 (2013): 404-414.
. Zhang, Yufeng, et al. "Manipulator control system based on machine vision." International Conference on Ap-plications and Techniques in Cyber Intelligence ATCI 2019: Applications and Techniques in Cyber Intelligence 7. Springer International Publishing, 2020.
. De Queiroz, Marcio S., Vikram Kapila, and Qiguo Yan. "Adaptive nonlinear control of multiple spacecraft for-mation flying." Journal of Guidance, Control, and Dynam-ics 23.3 (2000): 385-390.
. Mo, Kangtong, et al. "DRAL: Deep Reinforcement Adaptive Learning for Multi-UAVs Navigation in Unknown Indoor Environment." arXiv preprint arXiv:2409.03930 (2024).
. Liu, Lipeng, et al. "Prioritized Experience Re-play-Based DDQN for Unmanned Vehicle Path Planning.", 2024 5th International Conference on Information Science, Parallel and Distributed Systems (ISPDS). IEEE, 2024.
. Nair, Ranjith Ravindranathan, et al. "Multisatellite formation control for remote sensing applications using artificial potential field and adaptive fuzzy sliding mode control." IEEE Systems Journal 9.2 (2014): 508-518.
. Xu, Letian, et al. "Autonomous navigation of un-manned vehicle through deep reinforcement learning." arXiv preprint arXiv:2407.18962 (2024).
. Kristiansen, Raymond, and Per Johan Nicklasson. "Spacecraft formation flying: a review and new results on state feedback control." Acta Astronautica 65.11-12 (2009): 1537-1552.
. Gao, Longsen, et al. "Decentralized adaptive aerospace transportation of unknown loads using a team of ro-bots." arXiv preprint arXiv:2407.08084 (2024).
. Ydstie, B. E., and T. Co. "Recursive estimation with adaptive divergence control." IEE Proceedings D (Control Theory and Applications). Vol. 132. No. 3. IEE, 1985.
. Xu, Letian, et al. "A multi-channel data logger of in-situ chemical sensors for cabled seafloor observatories." 2013 OCEANS-San Diego. IEEE, 2013.
. Nguyen, Thao, Jiho Han, and Dong-Chul Park. "Sat-ellite image classification using convolutional learn-ing." AIP conference Proceedings. Vol. 1558. No. 1. Ameri-can Institute of Physics, 2013.
Downloads
Published
Issue
Section
License
Copyright (c) 2024 Journal of Knowledge Learning and Science Technology ISSN: 2959-6386 (online)
This work is licensed under a Creative Commons Attribution 4.0 International License.
©2024 All rights reserved by the respective authors and JKLST.
Copyright: © The Author(s), 2024. Published by 