Task-Space Adaptive Dynamic Modularity Control of Free-Floating
Wang, Hanlei; Cheng, Long; Xie, Yongchun
2017
会议名称2017 IEEE 56th Annual Conference on Decision and Control (CDC)
会议日期December 12-15, 2017
会议地点Melbourne, Australia
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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20014
专题复杂系统管理与控制国家重点实验室_先进机器人
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],2017.
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