DocumentCode
2270321
Title
An adaptive control of a nonholonomic space robot
Author
Nakagawa, Takayuki ; Kiyota, Hiromitsu ; Sampei, Mitsuji ; Koga, Masanobu
Author_Institution
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
Volume
4
fYear
1997
fDate
10-12 Dec 1997
Firstpage
3632
Abstract
This paper presents a design method of an adaptive controller based on time-state form for a nonholonomic space robot which consists of a base, an arm and two weights. We assume that the base and the arm are connected at the center of gravity of the base and that the center of the arm and two weights are the same. The weights are assumed to move synchronously
Keywords
adaptive control; aerospace control; control system synthesis; manipulator dynamics; parameter estimation; robust control; state estimation; adaptive control; nonholonomic space robot; parameter estimation; robotic arms; stabilization; time-state control; Adaptive control; Control systems; Design methodology; Equations; Informatics; Orbital robotics; Parameter estimation; Programmable control; Robot kinematics; Space technology;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.652418
Filename
652418
Link To Document