Title :
Robust output tracking for uncertained space robot system with dual-arms using backstepping method
Author :
Xiaoteng, Tang ; Li, Chen
Author_Institution :
Coll. of Mech. Eng., Fuzhou Univ., Fuzhou
Abstract :
In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. Considering the Uncertainties of the system, the state function of the space robot system with dual-arms is established. Using backstepping method, a new adaptive robust tracking control method using GCMAC(Gauss basis function Cerebellar Model Articulation Controller) is proposed. The Lyapunov functions with state tracking error and GCMAC weight error is constructed, and the neural networks weight turn laws is designed, which, together with the robust adaptive controller, can guarantee the output tracking errorpsilas converging to zero while the states of the nonlinear system and the approximation errors of neural networks are bounded. The simulation verified the proposed controller.
Keywords :
Gaussian processes; Lyapunov methods; adaptive control; aerospace robotics; neurocontrollers; nonlinear control systems; robot dynamics; robot kinematics; robust control; uncertain systems; Gauss basis function cerebellar model articulation controller; Lyapunov function; adaptive robust tracking control; backstepping method; dual-arms; free-floating space robot system; neural network; nonlinear system; robust output tracking; space robot dynamics; space robot kinematics; uncertain system; Adaptive control; Backstepping; Error correction; Kinematics; Neural networks; Orbital robotics; Programmable control; Robust control; Robustness; Uncertainty; Backstepping; GCMAC; Joint space; Robust; Space robot system with Dual-Arms; Uncertainties;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605831
