{"title":"Adaptive output-feedback fault-tolerant control for space manipulator via actor-critic learning","authors":"Yuwan Yin, Xin Ning, Dongdong Xia","doi":"10.1016/j.asr.2024.12.026","DOIUrl":null,"url":null,"abstract":"<div><div>In this paper, an adaptive output-feedback fault-tolerant control methodology is investigated for the trajectory tracking of space manipulator in the presence of actuator failures, unavailability of the joint velocity, inertia uncertainty and unknown external disturbance. First, to reduce the difficulties in controller design caused by the unmeasured joint velocity of the space manipulator, an effective and simple model transformation scheme based on a first-order filter is proposed to transform the original output feedback system with unknown dynamics into a full-state strict feedback system. Second, by virtue of the combination of a smooth saturation function and the mean value theorem, the negative effects of actuator failures can be effectively addressed. Then, drawing support from the backstepping technique and the reinforcement learning (RL) strategy based on an actor-critic neural network (NN) framework, a novel RL based adaptive control (RLAC) scheme is designed, which not only circumvents the ”explosion of terms” typically arising in backstepping technique, but also incorporates feedback mechanism into the space manipulator control system. Moreover, by utilizing the model transformation and the RLAC scheme, the proposed control method is model-free and insensitive to external disturbance. Finally, the effectiveness superiority of the proposed scheme is verified by numerical simulations.</div></div>","PeriodicalId":50850,"journal":{"name":"Advances in Space Research","volume":"75 4","pages":"Pages 3914-3932"},"PeriodicalIF":2.8000,"publicationDate":"2025-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Advances in Space Research","FirstCategoryId":"89","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0273117724012389","RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ASTRONOMY & ASTROPHYSICS","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, an adaptive output-feedback fault-tolerant control methodology is investigated for the trajectory tracking of space manipulator in the presence of actuator failures, unavailability of the joint velocity, inertia uncertainty and unknown external disturbance. First, to reduce the difficulties in controller design caused by the unmeasured joint velocity of the space manipulator, an effective and simple model transformation scheme based on a first-order filter is proposed to transform the original output feedback system with unknown dynamics into a full-state strict feedback system. Second, by virtue of the combination of a smooth saturation function and the mean value theorem, the negative effects of actuator failures can be effectively addressed. Then, drawing support from the backstepping technique and the reinforcement learning (RL) strategy based on an actor-critic neural network (NN) framework, a novel RL based adaptive control (RLAC) scheme is designed, which not only circumvents the ”explosion of terms” typically arising in backstepping technique, but also incorporates feedback mechanism into the space manipulator control system. Moreover, by utilizing the model transformation and the RLAC scheme, the proposed control method is model-free and insensitive to external disturbance. Finally, the effectiveness superiority of the proposed scheme is verified by numerical simulations.
期刊介绍:
The COSPAR publication Advances in Space Research (ASR) is an open journal covering all areas of space research including: space studies of the Earth''s surface, meteorology, climate, the Earth-Moon system, planets and small bodies of the solar system, upper atmospheres, ionospheres and magnetospheres of the Earth and planets including reference atmospheres, space plasmas in the solar system, astrophysics from space, materials sciences in space, fundamental physics in space, space debris, space weather, Earth observations of space phenomena, etc.
NB: Please note that manuscripts related to life sciences as related to space are no more accepted for submission to Advances in Space Research. Such manuscripts should now be submitted to the new COSPAR Journal Life Sciences in Space Research (LSSR).
All submissions are reviewed by two scientists in the field. COSPAR is an interdisciplinary scientific organization concerned with the progress of space research on an international scale. Operating under the rules of ICSU, COSPAR ignores political considerations and considers all questions solely from the scientific viewpoint.