ADAPTIVE AND ROBUST CONTROL SCHEMES OF COORDINATED MOTION OF SPACE – BASED ROBOT SYSTEM

Abstract

Abstract: The coordinated control of the base attitude and arms of space-based robot system is studied. With the ideas of augmentation approach, the difficulties of nonlinear parameterization of the system dynamic equations were overcome. Based on the results proposed above, the adaptive and robust control schemes of coordinated motion for both the base and manipulator to track the desired trajectory are developed. A two-link planar space-based robot system is simulated to verify the proposed control schemes.

Key words: Adaptive control, Coordinated motion, Robust control, Space-based robot system

CLC Number:

TP241

Chen Li;Liu Yanzhu. ADAPTIVE AND ROBUST CONTROL SCHEMES OF COORDINATED MOTION OF SPACE – BASED ROBOT SYSTEM[J]. , 2001, 37(8): 18-22，2.

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ADAPTIVE AND ROBUST CONTROL SCHEMES OF COORDINATED MOTION OF SPACE – BASED ROBOT SYSTEM

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