Document Zbl 1480.93291

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Franklin Inst.</a> <a href="/?q=in%3A474654" title="Articles in this Issue">358, No. 18, 9542-9560 (2021)</a>. </div> <div class="abstract">Summary: This work mainly studies the position and attitude tracking control of a free-floating space robot. With the attitude represented in modified Rodrigues parameters (MRPs), a task-space controller with predefined-time stability is developed considering the external disturbance. The tuning parameters of a predefined-time controller can be formulated as functions of the prescribed upper bound of the stabilization time. Based on the backstepping technique and a novel predefined-time stabilizing function, a predefined-time control scheme is designed for the space robot system. Moreover, to avoid ’explosion of terms’, an auxiliary variable is introduced such that the controller is independent of the derivative of the virtual control law. Numerical simulations are presented to demonstrate the effectiveness of the proposed method.</div> <div class="clear"></div> <br> <div class="citations"><div class="clear"><a href="/?q=rf%3A7459435">Cited in <strong>4</strong> Documents</a></div></div> <div class="classification"> <h3>MSC:</h3> <table><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C85" title="MSC2020">93C85</a> </td> <td class="space"> Automated systems (robots, etc.) in control theory </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93D40" title="MSC2020">93D40</a> </td> <td class="space"> Finite-time stability </td> </tr></table> </div><div class="keywords"> <h3>Keywords:</h3><a href="/?q=ut%3Aposition+and+attitude+tracking+control">position and attitude tracking control</a>; <a href="/?q=ut%3Afree-floating+space+robot">free-floating space robot</a>; <a href="/?q=ut%3Apredefined-time+stability">predefined-time stability</a></div>  <div class="modal fade" id="metadataModal" tabindex="-1" role="dialog" aria-labelledby="myModalLabel"> <div class="modal-dialog" role="document"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> <h4 class="modal-title" id="myModalLabel">Cite</h4> </div> <div class="modal-body"> <div class="form-group"> <label for="select-output" class="control-label">Format</label> <select id="select-output" class="form-control" aria-label="Select Metadata format"></select> </div> <div class="form-group"> <label for="metadataText" class="control-label">Result</label> <textarea class="form-control" id="metadataText" rows="10" style="min-width: 100%;max-width: 100%"></textarea> </div> <div id="metadata-alert" class="alert alert-danger" role="alert" style="display: none;">  </div> </div> <div class="modal-footer"> <button type="button" class="btn btn-primary" onclick="copyMetadata()">Copy to clipboard</button> <button type="button" class="btn btn-default" data-dismiss="modal">Close</button> </div> </div> </div> </div> <div class="functions clearfix"> <div class="function">  <a type="button" class="btn btn-default btn-xs pdf" data-toggle="modal" data-target="#metadataModal" data-itemtype="Zbl" data-itemname="Zbl 1480.93291" data-ciurl="/ci/07459435" data-biburl="/bibtex/07459435.bib" data-amsurl="/amsrefs/07459435.bib" data-xmlurl="/xml/07459435.xml" > Cite </a> <a class="btn btn-default btn-xs pdf" data-container="body" type="button" href="/pdf/07459435.pdf" title="Zbl 1480.93291 as PDF">Review PDF</a> </div> <div class="fulltexts"> <span class="fulltext">Full Text:</span> <a class="btn btn-default btn-xs" type="button" href="https://doi.org/10.1016/j.jfranklin.2021.09.030" aria-label="DOI for “Predefined-time control for free-floating space robots in task space”" title="10.1016/j.jfranklin.2021.09.030">DOI</a> </div> <div class="sfx" style="float: right;"> </div> </div> <div class="references"> <h3>References:</h3> <table><tr> <td>[1]</td> <td class="space">Jia, Y.; Misra, A. 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