THE ROBUST CONTROL SCHEME FOR FREE-FLOATING SPACE MANIPULATOR TO TRACK THE DESIRED TRAJECTORY IN JOINTSPACE

被引：0
作者：
Chen Li (Department of Mechanical Engineering
机构：
来源：
Acta Mechanica Solida Sinica | 2001年 / 02期
基金：
中国国家自然科学基金;
关键词：
free-floating space manipulator; augmentation approach; robust control;
D O I：
暂无
中图分类号：
TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ;
摘要：
The control of a free-floating space manipulator system is discussed.With the augmentationapproach,the nonlinear parameterization problem of the dynamic equations of the space manipulator systemis overcome.Based on the results,the robust control scheme for free-floating space manipulator with uncer-tain payload parameters to track the desired trajectory in jointspace is proposed,and the global convergenceof the tracking is verified by using the Lyapunov method.The prolapsed control scheme is computationallysimple,because we choose to make the controller robust to the uncertain inertial parameters rather than ex-plicitly estimate them online.In particular,it needn’t control the position and attitude of the floating base.Atwo-link planar space manipulator system is simulated to verify the control scheme proposed.
引用
收藏
页码：183 / 188
页数：6
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