Title :
A backstepping robust control method for free-floating space robot system with dual-arms
Author :
Tang, Xiaoteng ; Tang, Cheng-kun ; Li, Hongzhe
Author_Institution :
Dept. of Phys. & Electron. Inf. Eng., Minjiang Univ., Fuzhou, China
Abstract :
In this paper, a backstepping robust control method for free-floating space robot system with dual-arms is proposed. Base on the analysis of the kinematics and dynamics, with the backstepping method, the Lyapunov function for robust control is designed. Considering the system uncertainties of the system, a robust GCMAC (Gauss Basis Function Cerebellar Model Articulation Controller) is built to consummate the controller. Simulation proves the validity of the proposed controller.
Keywords :
Lyapunov methods; aerospace robotics; cerebellar model arithmetic computers; control system synthesis; mobile robots; robot dynamics; robot kinematics; robust control; Gauss basis function cerebellar model articulation controller; Lyapunov function; backstepping robust control method; free-floating dual-arm space robot system; robot dynamics; robot kinematics; robust GCMAC; robust control design; Aerospace electronics; Equations; Manipulator dynamics; Robustness; Uncertainty;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181378
