THE ROBUST CONTROL SCHEME FOR FREEFLOATING SPACE MANIPULATOR TO TRACK *THE DESIRED TRAJECTORY IN JOINTSPACE |
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Authors: | Chen Li Liu Yanzhu |
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Institution: | (1) Department of Mechanical Engineering, Fuzhou University, 350002 Fuzhou, China;(2) Department of Engineering Mechanics, Shanghai Jiaotong University, 200030 Shanghai, China |
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Abstract: | The control of a free-floating space manipulator system is discussed. With the augmentation approach, the nonlinear parameterization
problem of the dynamic equations of the space manipulator system is overcome. Based on the results, the robust control scheme
for free-floating space manipulator with uncertain payload parameters to track the desired trajectory in jointspace is proposed,
and the global convergence of the tracking is verified by using the Lyapunov method. The proposed control scheme is computationally
simple, because we choose to make the controller robust to the uncertain inertial parameters rather than explicitly estimate
them online. In particular, it needn't control the position and attitude of the floating base. A two-link planar space manipulator
system is simulated to verify the control scheme proposed.
Project supported by the National Natural Science Foundation of China (No. 19872032), Aeronautical Science Foundation, and
Science Foundation of Fuzhou University. |
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Keywords: | free-floating space manipulator augmentation approach robust control |
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