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Robust Adaptive Composite Control of Dual-Arm Space Robot System in Inertial Space
Jinan, China October 16-October 18
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ISDA.2006.40Sixth International Conference on Int ...
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Yishen Guo, Li Chen, "Robust Adaptive Composite Control of Dual-Arm Space Robot System in Inertial Space," Intelligent Systems Design and Applications, International Conference on, vol. 3, pp. 115-119, Sixth International Conference on Intelligent Systems Design and Applications (ISDA'06) Volume 3, 2006.
 
 
BibTex
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@article{ 10.1109/ISDA.2006.40,
author = {Yishen Guo and Li Chen},
title = {Robust Adaptive Composite Control of Dual-Arm Space Robot System in Inertial Space},
journal ={Intelligent Systems Design and Applications, International Conference on},
volume = {3},
year = {2006},
isbn = {0-7695-2528-8},
pages = {115-119},
doi = {http://doi.ieeecomputersociety.org/10.1109/ISDA.2006.40},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
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TY - CONF
JO - Intelligent Systems Design and Applications, International Conference on
TI - Robust Adaptive Composite Control of Dual-Arm Space Robot System in Inertial Space
SN - 0-7695-2528-8
SP115
EP119
A1 - Yishen Guo,
A1 - Li Chen,
PY - 2006
KW - Dual-arm space robot system
KW - Augmentation approach
KW - Robust adaptive composite control.
VL - 3
JA - Intelligent Systems Design and Applications, International Conference on
ER -
 
Yishen Guo, Fuzhou University, P.R. China
Li Chen, Fuzhou University, P.R. China
In this paper, the control problem of free-floating dual-arm space robot system with uncertain parameters is studied. Because the base of dual-arm space robot is not controlled and it is free-floating, the dynamic equations of space robot system no longer are linearly parameterized. It results the control of space robot system becomes very difficult. Based on the idea of augmentation approach, the difficulty proposed above is overcome, and the robust adaptive composite control scheme for dual-arm space robot to track the desired trajectory in inertial space is developed. The asymptotic stability of the control scheme is proved with Lyapunov method. A planar free-floating dual-arm space robot system with two payloads is simulated to verify the proposed control scheme.
Index Terms:
Dual-arm space robot system, Augmentation approach, Robust adaptive composite control.
Citation:
Yishen Guo, Li Chen, "Robust Adaptive Composite Control of Dual-Arm Space Robot System in Inertial Space," isda, vol. 3, pp.115-119, Sixth International Conference on Intelligent Systems Design and Applications (ISDA'06) Volume 3, 2006
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