会议专题

Compensating Learning Control for Free-floating Space Robot System with Dual-Arms Using Genetic Algorithm in Joints Space

In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for the space robot is derived by using the PD type computed torque method. A new learning control method using real coded genetic algorithm is presented to control the system and its controller structure is designed. A compensating learning control item is added to the error equation to approach the uncertainties by evolutionary learning. Then, the computed torque method and the GA learning control are combined to realize the perfect trajectory tracking. Simulation results show the efficiency of the control method.

Space Robot System with Dual-arms Joint motion genetic algorithm learning control Free-floating

Xiaoteng Tang Li Chen

The Department of Automotive Engineering, Minjiang University, Fuzhou, 350108 The College of Mechanical Engineering, Fuzhou University, Fuzhou, 350002

国际会议

2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

广西桂林

英文

689-694

2009-06-17(万方平台首次上网日期,不代表论文的发表时间)