PID Controller Optimized Based on PSO for Trajectory Tracking of Free-Floating Satellite Robotic Manipulator

This paper deals with trajectory tracking of a free-floating Satellite robotic manipulator (FFSRM) under the problem of communication failure (CF) for space applications. Communication in robotic systems may fail very often due to noises, external disturbances, and errors in the sensors. In the event of CF, the samples of the reference trajectory are missing, which would cause the failure of the robot to accomplish the tracking process. For this purpose, the control strategy that is proposed in this paper consists mainly of two parts. First, the conventional Proportional Integral Derivative (PID) controller is optimized based on Particle Swarm Optimization (PSO) algorithm in order to adjust the torque of the FFSRM with a view to make the tracking error attains the minimum possible between the reference and the actual trajectory of the FFSRM. Second, a polynomial fitting algorithm is applied to estimate the reference trajectory to overcome the CF events. Finally, a Matlab example is conducted to validate the effectiveness of the proposed control approach in comparison with the conventional PID controller and PID optimized by Genetic Algorithms (GA).