An adaptive control for a free-floating space robot by using inverted chain approach
An adaptive control for a free-floating space robot by using inverted chain approach
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DOI：
10.1109/iros.2007.4399007
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发表时间：
2007-12
期刊：
影响因子：
--
通讯作者：
S. Abiko;G. Hirzinger
中科院分区：
文献类型：
--
作者：
S. Abiko;G. Hirzinger
研究了模型不确定性下漂浮基空间机器人的自适应控制问题。首先，一个自由浮动机器人的操作空间动力学推导出一个新的，计算效率的制定。然后，通过使用新的配方，我们提出了一种自适应控制的自由浮动空间机器人，以补偿模型的不确定性。为了提高系统的性能，进一步讨论了结合轨迹误差和反作用力的复合自适应控制。为了验证所提出的方法的有效性，进行了三维逼真的数值模拟。
This paper addresses an adaptive control for free-floating space robots in the presence of model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, by using the new formulation, we propose an adaptive control for a free-floating space robot to compensate the model uncertainty. For performance improvement, a composite adaptive control by combination of the trajectory error and the reaction force is further discussed. To verify the effectiveness of the proposed methods, a three-dimensional realistic numerical simulation is carried out.