Title :
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
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;
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
DOI :
10.1109/WCICA.2008.4594411
