ROBUST AND ADAPTIVE COMPOSITE CONTROL OF SPACE ROBOT SYSTEM WITH BOUNDED TORQUE INPUTS

• 作 者: L.M.Xie;L.Chen;
• 机 构: College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,350002,China
• 出 处: The Third International Conference on Dynamics,Vibration and
• 发表日期: 2010年期

　　The space robot has been of great importance in the area of modern industry.The dynamics and control of space robot have called many researchers interests[1-4] since it poses some problems that are not found in terrestrial robots.Especially for the free-floating space robot, some of its inertial parameters are uncertain.This results in infeasibility of most adaptive control and nonlinear control schemes that are currently used in terrestrial robot control.Recently.many researches on the free-floating space robot system with uncertain inertial parameters have been developed [5-8].