CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Task-Space Adaptive Dynamic Modularity Control of Free-Floating
Wang, Hanlei; Cheng, Long; Xie, Yongchun
2017
Conference Name2017 IEEE 56th Annual Conference on Decision and Control (CDC)
Conference DateDecember 12-15, 2017
Conference PlaceMelbourne, Australia
AbstractIn 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.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20014
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Wang, Hanlei,Cheng, Long,Xie, Yongchun. Task-Space Adaptive Dynamic Modularity Control of Free-Floating[C],2017.
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