Matches in SemOpenAlex for { <https://semopenalex.org/work/W3028165787> ?p ?o ?g. }
- W3028165787 endingPage "105870" @default.
- W3028165787 startingPage "105870" @default.
- W3028165787 abstract "In this paper, a novel decentralized control strategy with finite-time convergence is developed for the trajectory tracking of a space manipulator. The existing control schemes for a space manipulator can be classified into two main categories: centralized ones and decentralized ones. The former regards the robot as a high dimensional system with strong nonlinearity, thus the controllers are with multiple-input and multiple-output forms. The latter treats the system as a number of decoupled subsystems, each of which corresponds to a link of the manipulator. There are a set of decentralized single-input and single-output controllers for each subsystem. The centralized control has high performance and large calculation cost, whereas the decentralized control has relatively low control precision, but with high computational efficiency. This work combines the above two schemes to propose a compromised control strategy—recursive decentralized finite-time control. The space manipulator is viewed as a set of interconnected subsystems. The tracking error equations of each subsystem are firstly written based on the recursive dynamic model of the system. Then the decentralized non-singular terminal sliding mode (NTSM) control law is designed to make the tracking error converge to an arbitrarily small neighborhood of the origin within a finite time. Finally, numerical simulations of the trajectory tracking task for a space manipulator are given to verify the effectiveness and efficiency of the control scheme." @default.
- W3028165787 created "2020-05-29" @default.
- W3028165787 creator A5013697180 @default.
- W3028165787 creator A5060560943 @default.
- W3028165787 creator A5074923978 @default.
- W3028165787 creator A5078394067 @default.
- W3028165787 creator A5089408812 @default.
- W3028165787 creator A5091718689 @default.
- W3028165787 date "2020-07-01" @default.
- W3028165787 modified "2023-10-06" @default.
- W3028165787 title "Space manipulator trajectory tracking based on recursive decentralized finite-time control" @default.
- W3028165787 cites W1544842521 @default.
- W3028165787 cites W1552319950 @default.
- W3028165787 cites W1988837728 @default.
- W3028165787 cites W2000201135 @default.
- W3028165787 cites W2009547761 @default.
- W3028165787 cites W2028052403 @default.
- W3028165787 cites W2028090589 @default.
- W3028165787 cites W2047340799 @default.
- W3028165787 cites W2057942173 @default.
- W3028165787 cites W2058967086 @default.
- W3028165787 cites W2069774386 @default.
- W3028165787 cites W2098287094 @default.
- W3028165787 cites W2099442362 @default.
- W3028165787 cites W2110958049 @default.
- W3028165787 cites W2131750416 @default.
- W3028165787 cites W2136605942 @default.
- W3028165787 cites W2166831132 @default.
- W3028165787 cites W2263707337 @default.
- W3028165787 cites W2294330364 @default.
- W3028165787 cites W2322979973 @default.
- W3028165787 cites W2560218933 @default.
- W3028165787 cites W2569385565 @default.
- W3028165787 cites W2738276968 @default.
- W3028165787 cites W2762970698 @default.
- W3028165787 cites W2789036190 @default.
- W3028165787 cites W2791142925 @default.
- W3028165787 cites W2793427524 @default.
- W3028165787 cites W2803498590 @default.
- W3028165787 cites W2895352128 @default.
- W3028165787 cites W2895515482 @default.
- W3028165787 cites W2900885814 @default.
- W3028165787 cites W2930662003 @default.
- W3028165787 cites W2950059298 @default.
- W3028165787 cites W2964424014 @default.
- W3028165787 cites W2971105132 @default.
- W3028165787 doi "https://doi.org/10.1016/j.ast.2020.105870" @default.
- W3028165787 hasPublicationYear "2020" @default.
- W3028165787 type Work @default.
- W3028165787 sameAs 3028165787 @default.
- W3028165787 citedByCount "13" @default.
- W3028165787 countsByYear W30281657872020 @default.
- W3028165787 countsByYear W30281657872021 @default.
- W3028165787 countsByYear W30281657872022 @default.
- W3028165787 countsByYear W30281657872023 @default.
- W3028165787 crossrefType "journal-article" @default.
- W3028165787 hasAuthorship W3028165787A5013697180 @default.
- W3028165787 hasAuthorship W3028165787A5060560943 @default.
- W3028165787 hasAuthorship W3028165787A5074923978 @default.
- W3028165787 hasAuthorship W3028165787A5078394067 @default.
- W3028165787 hasAuthorship W3028165787A5089408812 @default.
- W3028165787 hasAuthorship W3028165787A5091718689 @default.
- W3028165787 hasConcept C121332964 @default.
- W3028165787 hasConcept C1276947 @default.
- W3028165787 hasConcept C13662910 @default.
- W3028165787 hasConcept C154945302 @default.
- W3028165787 hasConcept C15744967 @default.
- W3028165787 hasConcept C158622935 @default.
- W3028165787 hasConcept C162324750 @default.
- W3028165787 hasConcept C177264268 @default.
- W3028165787 hasConcept C183356978 @default.
- W3028165787 hasConcept C19417346 @default.
- W3028165787 hasConcept C199360897 @default.
- W3028165787 hasConcept C205875254 @default.
- W3028165787 hasConcept C2775924081 @default.
- W3028165787 hasConcept C2775936607 @default.
- W3028165787 hasConcept C2777303404 @default.
- W3028165787 hasConcept C36662352 @default.
- W3028165787 hasConcept C41008148 @default.
- W3028165787 hasConcept C47446073 @default.
- W3028165787 hasConcept C50522688 @default.
- W3028165787 hasConcept C62520636 @default.
- W3028165787 hasConceptScore W3028165787C121332964 @default.
- W3028165787 hasConceptScore W3028165787C1276947 @default.
- W3028165787 hasConceptScore W3028165787C13662910 @default.
- W3028165787 hasConceptScore W3028165787C154945302 @default.
- W3028165787 hasConceptScore W3028165787C15744967 @default.
- W3028165787 hasConceptScore W3028165787C158622935 @default.
- W3028165787 hasConceptScore W3028165787C162324750 @default.
- W3028165787 hasConceptScore W3028165787C177264268 @default.
- W3028165787 hasConceptScore W3028165787C183356978 @default.
- W3028165787 hasConceptScore W3028165787C19417346 @default.
- W3028165787 hasConceptScore W3028165787C199360897 @default.
- W3028165787 hasConceptScore W3028165787C205875254 @default.
- W3028165787 hasConceptScore W3028165787C2775924081 @default.
- W3028165787 hasConceptScore W3028165787C2775936607 @default.
- W3028165787 hasConceptScore W3028165787C2777303404 @default.
- W3028165787 hasConceptScore W3028165787C36662352 @default.