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

Chen Li; Liu Yanzhu

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

机译：浮动空间操纵器的鲁棒控制方案，用于跟踪关节中的期望轨迹

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The control of a free-floating space manipulator system is discussed. With the augmentation approach, the nonlinear parameterization problem of the dynamic equations of the space manipulator system is 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 convergence of the tracking is verified by using the Lyapunov method.

机译：讨论了自由浮动空间机械手系统的控制。利用扩充方法，克服了空间机械手系统动力学方程的非线性参数化问题。基于结果，提出了具有不确定有效载荷参数的自由浮动空间机械臂的鲁棒控制方案，以跟踪关节空间中的期望轨迹，并利用李雅普诺夫方法验证了跟踪的全局收敛性。

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《Acta Mechanica Solida Sinica》 |2001年第2期|p.183-188|共6页
作者
Chen Li; Liu Yanzhu;
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原文格式 PDF
正文语种 eng
中图分类固体力学;
关键词
free-floating space maniulator; augmentation approach; robust control;

机译：自由浮动空间操纵器;增强方法;鲁棒控制;

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5. Lyapunov-based hybrid control for robust trajectory tracking of robotic manipulators. [D] . Islam, Shafiqul. 2010

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

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