Experimental investigation on adaptive robust controller designs applied to a free-floating space manipulator
| Contribuinte(s) |
UNIVERSIDADE DE SÃO PAULO |
|---|---|
| Data(s) |
18/10/2012
18/10/2012
2011
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| Resumo |
This paper aims to formulate and investigate the application of various nonlinear H(infinity) control methods to a fiee-floating space manipulator subject to parametric uncertainties and external disturbances. From a tutorial perspective, a model-based approach and adaptive procedures based on linear parametrization, neural networks and fuzzy systems are covered by this work. A comparative study is conducted based on experimental implementations performed with an actual underactuated fixed-base planar manipulator which is, following the DEM concept, dynamically equivalent to a free-floating space manipulator. (C) 2011 Elsevier Ltd. All rights reserved. Fundacao de Amparo a Pesquisa do Estado de Sao Paulo[FAPESP-03/12001-0] FAPESP Fundacao de Amparo a Pesquisa do Estado de Sao Paulo[06/03951-2] |
| Identificador |
CONTROL ENGINEERING PRACTICE, v.19, n.4, p.395-408, 2011 0967-0661 http://producao.usp.br/handle/BDPI/17817 10.1016/j.conengprac.2010.12.011 |
| Idioma(s) |
eng |
| Publicador |
PERGAMON-ELSEVIER SCIENCE LTD |
| Relação |
Control Engineering Practice |
| Direitos |
closedAccess Copyright PERGAMON-ELSEVIER SCIENCE LTD |
| Palavras-Chave | #Space robotics #H(infinity) control #Adaptive control #Neural networks #Fuzzy systems #H-INFINITY CONTROL #ROBOTIC SYSTEMS #MIXED H-2/H-INFINITY #CONTROL ALGORITHMS #RIGID SPACECRAFT #ATTITUDE-CONTROL #KINEMATICS #NETWORKS #DYNAMICS #SCHEME #Automation & Control Systems #Engineering, Electrical & Electronic |
| Tipo |
article original article publishedVersion |
