Title :
Adaptive Robust Control of Space Robot in Task Space
Author :
Feng, Baomin ; Ma, Guangcheng ; Wen, Qiyong ; Wang, Changhong
Author_Institution :
Space Control & Inertia Technol. Res. Center, Harbin Inst. of Technol.
Abstract :
This paper discuses the tracking control problem of free-floating space robot in Cartesian space. Based on the augmentation dynamic equation, a robust controller is proposed considering the model uncertainties and external disturbances, using Lyapunov direct method and dissipative theory, it is proved that the proposed controller can ensure the L2 gain from disturbance to tracking error is lower than the given index gamma. Simulation results show that the control method is valid
Keywords :
Lyapunov methods; adaptive control; aerospace robotics; robust control; Cartesian space; Lyapunov direct method; adaptive robust control; augmentation dynamic equation; dissipative theory; free-floating space robot; space robot; task space; Adaptive control; Equations; Error correction; Orbital robotics; Programmable control; Robot control; Robotics and automation; Robust control; Space technology; Uncertainty; robust control; space robot; tracking control;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257409
