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All space manipulators are debugged on the ground and on-orbit serviced in space. Compared with in ground gravity environment their friction characteristics in space microgravity environment have great changes. For sake of tracking the desired trajectory, in both ground and space, considering these characteristics, a friction compensation control method based on an Active Disturbance Rejection Control...
In order to compensate for the influence of friction in the coarse pointing subsystem of the precision pointing and tracking system, an adaptive RBF terminal sliding mode control was proposed, and GA (genetic algorithm) was applied off line to parameter identification of the friction model. A terminal sliding mode controller was used to obtain a stable and fast trajectory first, then the upper bound...
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