Task-Space Adaptive Dynamic Modularity Control of Free-Floating

	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	复杂系统认知与决策实验室_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.