Document Zbl 07968565

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J. Robust Nonlinear Control</a> <a href="/?q=in%3A522671" title="Articles in this Issue">35, No. 2, 452-478 (2025)</a>. </div> <div class="abstract">Summary: Aiming at safely capturing faulty satellites on orbit, a novel predefined-time impedance controller is designed to address the control challenges of free-flying flexible-joint space robots (FFSR) considering output constraint. The FFSR system model is transformed into a singularly perturbed form consisting of both fast and slow subsystems. For the slow subsystem, an adaptive predefined-time sliding mode observer is developed to obtain the contact torque between the end-effector and the target. To mitigate overshooting and enhance tracking precision, a predefined-time prescribed performance function is proposed, and the output constraint issue is reformulated as a coordinate transformation problem involving the trajectory tracking errors. Based on these, a predefined-time impedance controller is designed to achieve the compliant capture of the target. For the fast subsystem, a new non-singular fixed-time controller is proposed to rapidly overcome the vibration of the flexible joints. Stability analysis proves predefined-time stability of the FFSR system and the tracking errors can be maintained within a predefined region. Finally, numerical simulations indicate the feasibility and validity of the presented control strategy.<br class="zbmathjax-paragraph">© 2024 John Wiley & Sons Ltd.</div> <div class="clear"></div> <div class="classification"> <h3>MSC:</h3> <table><tr> <td> <a class="mono" href="/classification/?q=cc%3A93D40" title="MSC2020">93D40</a> </td> <td class="space"> Finite-time stability </td> </tr><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%3A93C40" title="MSC2020">93C40</a> </td> <td class="space"> Adaptive control/observation systems </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93B12" title="MSC2020">93B12</a> </td> <td class="space"> Variable structure systems </td> </tr></table> </div><div class="keywords"> <h3>Keywords:</h3><a href="/?q=ut%3Aforce+sensor-less">force sensor-less</a>; <a href="/?q=ut%3Afree-flying+flexible-joint+space+robots">free-flying flexible-joint space robots</a>; <a href="/?q=ut%3Aimpedance+control">impedance control</a>; <a href="/?q=ut%3Apredefined-time+prescribed+performance">predefined-time prescribed performance</a>; <a href="/?q=ut%3Atarget+capturing">target capturing</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 07968565" data-ciurl="/ci/07968565" data-biburl="/bibtex/07968565.bib" data-amsurl="/amsrefs/07968565.bib" data-xmlurl="/xml/07968565.xml" > Cite </a> <a class="btn btn-default btn-xs pdf" data-container="body" type="button" href="/pdf/07968565.pdf" title="Zbl 07968565 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/10.1002/rnc.7657" aria-label="DOI for “Predefined-time impedance control of free-flying flexible-joint space robots for force sensor-less target capturing with prescribed performance”" title="10.1002/rnc.7657">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">Liu, L.; 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