The Controller Design Of Microgravity System On Ground

摘要：

This paper focuses on the controller design of microgravity system on ground for the captured target of the free-flying space robot.The kinematics analysis of the collided static target and kinetic target are done.In vertical direction,the constant tension method is brought forward.The track of the object s deflexion angle and displacement in polar coordinate is proposed so that the moving robot and target are put in the same plane.The models of electromotor are established.And the robust FCMAC is adopted in this nonlinear system with load disturbance.Simulation and experiment of this tested system shows that the robust FCMAC can improve the dynamic property and has robustness.

关键词： Space Robot Microgravity Constant Tension Fuzzy CMAC

作者: Xumei Lin Suzhen Wang Minzhou Luo Xiuqing Yang

作者单位: Department of Automation Qingdao technological University Shandong Province,China Institute of Intelligent Machines, Chinese Academy of Sciences Hefei 230031,China

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1003-1008

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）