Finite-Time Trajectory Tracking Control of Space Manipulator Under Actuator Saturation
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Bibliographic record
Abstract
This paper proposes a finite-time trajectory tracking controller for a space manipulator under model uncertainty, external disturbance, and actuator saturation. The dynamics of space manipulator is derived using Kane's method. Considering the model uncertainty that may exist when the manipulator captures an unknown payload, a radial basis function neural network (NN) is used to estimate the uncertain model of the space manipulator. An auxiliary system is designed to compensate the actuator saturation. Then a NN-based adaptive terminal sliding mode controller is proposed for trajectory tracking of a space manipulator. The stability of the proposed controller is analyzed using Lyapunov theory. Numerical simulations are conducted to verify the effectiveness of the proposed controller.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it