Contraction Theory Based Trajectory Tracking Control of Free-Floating Space Manipulator
Bibliographic record
Abstract
In the space on-orbit task, achieving precise trajectory tracking for the end-effector is crucial. This necessitates the use of high-precision, fast, and stable controllers. In order to minimize fuel consumption and avoid the impact of the switching the base position and attitude controller on the control accuracy of end-effector, the space robot is in a free-floating state, where the base remains uncontrolled. Considering the nonlinear and coupling characteristics of the free-floating space manipulator, this paper proposes the utilization of the contracting back-stepping method to achieve end-effector trajectory tracking control. This approach is based on the principles of contraction theory and the design concepts of the back-stepping controller. Notably, the contracting back-stepping method offers a significant advantage over the traditional back-stepping method by eliminating the need to design a Lyapunov function at each step. Consequently, this simplifies the controller design process to a great extent. To validate the effectiveness of the proposed method, a simulation experiment was conducted. The contracting back-stepping method was employed to design an end-effector trajectory tracking controller for a free-floating space robot equipped with a 7-degree-of-freedom robotic arm. The simulation results demonstrated that, the controller was able to swiftly, accurately, and consistently track the desired trajectory.
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How this classification was reachedexpand
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 | 0.000 |
| 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".