Learning-Based Data-Assisted Port-Hamiltonian Control for Free-Floating Space Manipulators
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866916946674450432 |
|---|---|
| author | Eslami, Mostafa Babazadeh, Maryam |
| author_facet | Eslami, Mostafa Babazadeh, Maryam |
| contents | A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A robust, model-based controller combined with a high-gain decentralized integrator establishes large robustness margins and strict time-scale separation, ensuring that subsequent learning cannot destabilize the primary dynamics. Learning, selected for its generalizability, is then applied to capture complex, unmodeled effects, despite inherent delay and transient error during adaptation. Formal Lyapunov analysis with explicit stability bounds guarantees convergence under bounded learning errors. The structured design confines learning to the simplest part of the dynamics, enhancing data efficiency while preserving physical interpretability. The approach is generic, with a free-floating space manipulator orientation control task, including integrated null-space collision avoidance, serving as a case study to demonstrate robust tracking performance and applicability to broader robotic domains. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_09563 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Learning-Based Data-Assisted Port-Hamiltonian Control for Free-Floating Space Manipulators Eslami, Mostafa Babazadeh, Maryam Systems and Control A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A robust, model-based controller combined with a high-gain decentralized integrator establishes large robustness margins and strict time-scale separation, ensuring that subsequent learning cannot destabilize the primary dynamics. Learning, selected for its generalizability, is then applied to capture complex, unmodeled effects, despite inherent delay and transient error during adaptation. Formal Lyapunov analysis with explicit stability bounds guarantees convergence under bounded learning errors. The structured design confines learning to the simplest part of the dynamics, enhancing data efficiency while preserving physical interpretability. The approach is generic, with a free-floating space manipulator orientation control task, including integrated null-space collision avoidance, serving as a case study to demonstrate robust tracking performance and applicability to broader robotic domains. |
| title | Learning-Based Data-Assisted Port-Hamiltonian Control for Free-Floating Space Manipulators |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2509.09563 |