Task-Space Adaptive Dynamic Modularity Control of Free-Floating
文献类型：会议论文
| 作者 | Wang, Hanlei ; Cheng, Long; Xie, Yongchun
|
| 出版日期 | 2017 |
| 会议日期 | December 12-15, 2017 |
| 会议地点 | Melbourne, Australia |
| 英文摘要 | In this paper, we investigate the task-space adaptive control problem for free-floating space manipulators with uncertain kinematics and dynamics and with an unmodifiable inner joint control loop. The existence of an unmodifiable inner joint control loop makes most torque-based control algorithms in the literature inapplicable.We propose a dynamic modularity (DM) approach to resolve this problem, and this is hopeful for bridging the potential gap between the advanced control theory for (free-floating) space manipulators and practical engineering applications. Adaptive outer loop controllers are developed and shown to be able to guarantee the convergence of the task-space tracking errors. The performance of the proposed DM approach is shown by a numerical simulation. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/20014]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 推荐引用方式 GB/T 7714 | Wang, Hanlei,Cheng, Long,Xie, Yongchun. Task-Space Adaptive Dynamic Modularity Control of Free-Floating[C]. 见:. Melbourne, Australia. December 12-15, 2017. |
入库方式： OAI收割
来源：自动化研究所
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