Title :
An adaptive control of a nonholonomic space robot
Author :
Nakagawa, Takayuki ; Kiyota, Hiromitsu ; Sampei, Mitsuji ; Koga, Masanobu
Author_Institution :
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
Abstract :
This paper presents a design method of an adaptive controller based on time-state form for a nonholonomic space robot which consists of a base, an arm and two weights. We assume that the base and the arm are connected at the center of gravity of the base and that the center of the arm and two weights are the same. The weights are assumed to move synchronously
Keywords :
adaptive control; aerospace control; control system synthesis; manipulator dynamics; parameter estimation; robust control; state estimation; adaptive control; nonholonomic space robot; parameter estimation; robotic arms; stabilization; time-state control; Adaptive control; Control systems; Design methodology; Equations; Informatics; Orbital robotics; Parameter estimation; Programmable control; Robot kinematics; Space technology;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.652418
