• DocumentCode
    2868603
  • Title

    Adaptive Robust Control of Space Robot in Task Space

  • Author

    Feng, Baomin ; Ma, Guangcheng ; Wen, Qiyong ; Wang, Changhong

  • Author_Institution
    Space Control & Inertia Technol. Res. Center, Harbin Inst. of Technol.
  • fYear
    2006
  • fDate
    25-28 June 2006
  • Firstpage
    1571
  • Lastpage
    1576
  • Abstract
    This paper discuses the tracking control problem of free-floating space robot in Cartesian space. Based on the augmentation dynamic equation, a robust controller is proposed considering the model uncertainties and external disturbances, using Lyapunov direct method and dissipative theory, it is proved that the proposed controller can ensure the L2 gain from disturbance to tracking error is lower than the given index gamma. Simulation results show that the control method is valid
  • Keywords
    Lyapunov methods; adaptive control; aerospace robotics; robust control; Cartesian space; Lyapunov direct method; adaptive robust control; augmentation dynamic equation; dissipative theory; free-floating space robot; space robot; task space; Adaptive control; Equations; Error correction; Orbital robotics; Programmable control; Robot control; Robotics and automation; Robust control; Space technology; Uncertainty; robust control; space robot; tracking control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
  • Conference_Location
    Luoyang, Henan
  • Print_ISBN
    1-4244-0465-7
  • Electronic_ISBN
    1-4244-0466-5
  • Type

    conf

  • DOI
    10.1109/ICMA.2006.257409
  • Filename
    4026324
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2868603