Compensating learning control for free-floating space robot system using genetic algorithm

Author

Tang, Xiaoteng ; Chen, Li

Author_Institution

Coll. of Mech. Eng., Fuzhou Univ., Fuzhou

fYear

2008

fDate

25-27 June 2008

Firstpage

8922

Lastpage

8925

Abstract

In this paper, the kinematics and dynamics of free-floating space robot system is analyzed. The closed-loop dynamic error equations considering uncertainties for the space robot is derived using a PD type computed torque method. By introducing a compensating item standing for system uncertainties, using real coded genetic algorithm to improving its eliminating precision, a new compensating learning control method using genetic algorithm is presented in company with its controller structure designed. Simulation results verify the efficiency of the control method.

Keywords

PD control; aerospace robotics; closed loop systems; genetic algorithms; robot dynamics; robot kinematics; PD type computed torque method; closed-loop dynamic error equations; compensating learning control; free-floating space robot system; real coded genetic algorithm; robot dynamics; robot kinematics; system uncertainties; Adaptive control; Algorithm design and analysis; Control systems; Genetic algorithms; Orbital robotics; Payloads; Robot kinematics; Robotics and automation; Torque; Uncertainty; Free-floating; Space Robot System; genetic algorithm; learning control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4594411

Filename

4594411