Name
Title | ||
|---|---|---|
Neural network robust controllers applied to free-floating space manipulators in task space |
Abstract | ||
|---|---|---|
This paper deals with the problem of robust trajectory tracking control for free-floating manipulator systems subject to plant uncertainties and external disturbances. The system model is described through the Dynamically Equivalent Manipulator approach and the tracking problem is formulated directly in task space. Two adaptive techniques are developed considering nonlinear ℋ∞ controllers and artificial neural networks. Experimental results are obtained from an underactuated three-link fixed-base planar manipulator dynamically equivalent to a two-link free-floating planar space manipulator. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ACC.2010.5530536 | American Control Conference |
Keywords | DocType | ISSN |
h∞ control,aerospace robotics,manipulators,neurocontrollers,nonlinear control systems,position control,robust control,dynamically equivalent manipulator,free-floating space manipulators,neural network robust controllers,nonlinear ℋ∞ controllers,robust trajectory tracking control,task space,artificial neural networks,neural network,system modeling,artificial neural network,trajectory | Conference | 0743-1619 |
ISBN | Citations | PageRank |
978-1-4244-7426-4 | 0 | 0.34 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Pazelli, T. | 1 | 0 | 0.34 |
| Pazelli, F.P.A.T. | 2 | 0 | 0.34 |
| Marco H. Terra | 3 | 111 | 13.52 |
| Adriano a. g. Siqueira | 4 | 41 | 15.59 |