Robust Sliding Mode Adaptive Control With Bound Estimation for dual-arms Space-based Robot
The control problem of dual-arms space-based robot system subject to parameters uncertainty and external disturbances is discussed in this paper.Because the dynamic equations of space robot system and the generalized Jacobin matrix are nonlinearly parameterized, it results the control of space robot system becomes very difficult, based on the augmentation approach, the problems proposed above is overcome.A robust sliding mode adaptive composite control scheme for dual-arms space robot to track the desired trajectory in inertial space is developed.The uniform asymptotic stability of the system is proved with Lyapunov method.A planar free-floating dual-arms space robot system with uncertain payloads and external disturbances is simulated to verify the proposed control scheme is valid.
Fan Cun-jun Chen Li
College of Mechanical Engineering andAutomationFuzhou UniversityFuzhou,Fujian,350108,China College of Mechanical Engineering and Automation Fuzhou University Fuzhou,Fujian,350108,China
国际会议
上海
英文
1-7
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）