Fuzzy PID control of space manipulator for both ground alignment and space applications |
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Authors: | Fu-Cai Liu Li-Huan Liang Juan-Juan Gao |
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Affiliation: | Key Lab of Industrial Computer Control of Hebei Province, Yanshan University, Qinhuangdao 066004, China |
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Abstract: | Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential (PID) control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control, the control performance of the fuzzy PID is more effective for manipulator trajectory control. |
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Keywords: | Space manipulator trajectory tracking ground alignment space applications fuzzy proportional-integral-differential (PID gravity environment |
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