Adaptive Neural Network Control of Coordinated Motion of Space Robot System with Uncertain Parameters

摘要：

In this paper, the adaptive neural network control of coordinated motion between the bases attitude and the end-effector of space robot system with uncertain parameters is discussed. The controller is developed based on the neural network modeling technique. It neither requires the evaluation of inverse dynamical model nor the time-consuming training process. In addition,it also need neither linearly parameterize the dynamic equations of the system,nor know any actual inertial parameters. And robust control can be easily incorporated to suppress the neural network modeling errors. Simulation results based on a planar one-arm space robot system verify the feasibility of the proposed control scheme.

关键词： Space Robot System Uncertain Parameters Coordinated Motion Adaptive Neural Network Control

作者: Guo Yishen Chen Li

作者单位: College of Mechanical Engineering, Fuzhou University, Fuzhou 350002,China

会议类型: 国际会议

会议名称: The 11th International Space Conference of Pacific-basin Societies(第11届环太平洋国际航天会议)

会议地点: 北京

会议语种:英文

页码: 315-321

在线出版日期: 2007-05-16（万方平台首次上网日期，不代表论文的发表时间）