关键词: 神经网络;死区补偿;空间机械臂;自适应控制

Abstract: Model errors and dead-zone problems of free-floating space manipulators are considered. An adaptive compensation control method based on neural network is put forward. Neural network with good approximation ability is used to compensate the model errors. Variable structure controller is designed to eliminate approximation errors of neural network. Two neural networks is designed respectively to estimate and compensate dead zone model of joint actuator. By the dead zone compensation principle, the online adaptive learning law of weights is designed. The stability of control system is proved based on Lyapunov theory. The simulation results verify the effectiveness of the controller.

Key words: neural network;dead zone compensation;space robotic manipulators;adaptive control