Compensating learning control for free-floating space robot system with dual-arms using genetic algorithm in joints space

Author

Tang, Xiaoteng ; Chen, Li

Author_Institution

Dept. of Automotive Eng., Minjiang Univ., Fuzhou, China

fYear

2009

fDate

17-19 June 2009

Firstpage

689

Lastpage

694

Abstract

In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for the space robot is derived by using the PD type computed torque method. A new learning control method using real coded genetic algorithm is presented to control the system and its controller structure is designed. A compensating learning control item is added to the error equation to approach the uncertainties by evolutionary learning. Then, the computed torque method and the GA learning control are combined to realize the perfect trajectory tracking. Simulation results show the efficiency of the control method.

Keywords

adaptive control; aerospace robotics; genetic algorithms; learning systems; manipulator dynamics; manipulator kinematics; position control; torque control; tracking; PD type computed torque method; compensating learning control; evolutionary learning; free-floating space robot system; genetic algorithm; space manipulator system; trajectory tracking; Algorithm design and analysis; Control systems; Equations; Error correction; Genetic algorithms; Kinematics; Orbital robotics; Torque control; Trajectory; Uncertainty; Free-floating; Joint motion; Space Robot System with Dual-arms; genetic algorithm; learning control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2009. CCDC '09. Chinese

Conference_Location

Guilin

Print_ISBN

978-1-4244-2722-2

Electronic_ISBN

978-1-4244-2723-9

Type

conf

DOI

10.1109/CCDC.2009.5191837

Filename

5191837