Paper Info
Title
Task-Space Adaptive Dynamic Modularity Control Of Free-Floating Space Manipulators
Abstract
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.
Year
Venue
Field
2017
2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)
Convergence (routing),Kinematics,Torque,Computer simulation,Computer science,Control theory,Bridging (networking),Adaptive control,Control system,Modularity
DocType
ISSN
Citations 
Conference
0743-1546
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Hanlei Wang1383.03
Long Cheng2149273.97
Yongchun Xie312819.44