By Topic

Robust output tracking for uncertained space robot system with dual-arms using backstepping method

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Tang Xiaoteng ; Coll. of Mech. Eng., Fuzhou Univ., Fuzhou ; Chen Li

In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. Considering the Uncertainties of the system, the state function of the space robot system with dual-arms is established. Using backstepping method, a new adaptive robust tracking control method using GCMAC(Gauss basis function Cerebellar Model Articulation Controller) is proposed. The Lyapunov functions with state tracking error and GCMAC weight error is constructed, and the neural networks weight turn laws is designed, which, together with the robust adaptive controller, can guarantee the output tracking errorpsilas converging to zero while the states of the nonlinear system and the approximation errors of neural networks are bounded. The simulation verified the proposed controller.

Published in:

Control Conference, 2008. CCC 2008. 27th Chinese

Date of Conference:

16-18 July 2008