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A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making
Joint Authors
Sun, Hanxu
Jia, Qingxuan
Gao, Xin
Chen, Gang
Wang, Yifan
Du, Mingtao
Yang, Yukun
Source
International Journal of Aerospace Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-08-16
Country of Publication
Egypt
No. of Pages
12
Abstract EN
In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper.
First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors.
Then the models describing the relationships between the two kinds of factors and control variables are established.
Based on this, a multivariable and multiconstraint optimization model is constructed.
Second, a hierarchical system control model which incorporates the operational reliability factors is constructed.
The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control.
Operational reliability related performance parameters are measured and used as the system’s feedback.
Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module.
The operational reliability factors affect these three control levels in the form of control variable constraints.
Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.
American Psychological Association (APA)
Gao, Xin& Wang, Yifan& Sun, Hanxu& Jia, Qingxuan& Chen, Gang& Du, Mingtao…[et al.]. 2016. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making. International Journal of Aerospace Engineering،Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1105058
Modern Language Association (MLA)
Gao, Xin…[et al.]. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making. International Journal of Aerospace Engineering No. 2016 (2016), pp.1-12.
https://search.emarefa.net/detail/BIM-1105058
American Medical Association (AMA)
Gao, Xin& Wang, Yifan& Sun, Hanxu& Jia, Qingxuan& Chen, Gang& Du, Mingtao…[et al.]. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making. International Journal of Aerospace Engineering. 2016. Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1105058
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1105058