Adaptive and robust control schemes of coordinated motion of space-based robot system

被引：0
|
作者：
Chen, Li [1 ]
Liu, Yanzhu [1 ]
机构：
[1] Fuzhou Univ., Fuzhou 350002, China
来源：
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering | 2001年 / 37卷 / 08期
关键词：
Adaptive control systems - Computer simulation - Dynamics - Manipulators - Motion planning - Nonlinear equations - Robustness (control systems);
D O I：
10.3901/jme.2001.08.018
中图分类号：
学科分类号：
摘要：
The coordinated control of the base attitude and arms of space-based robot system is studied. With the ideas of augmentation approach, the difficulties of nonlinear parameterization of the system dynamic equations are overcome. Based on the results proposed above, the adaptive and robust control schemes of coordinated motion for both the base and manipulator to track the desired trajectory are developed. A two-link planar space-based robot system is simulated to verify the proposed control schemes.
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页码：18 / 22
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