Abstract
An adaptive control scheme is proposed for the space robot system with an attitude controlled base. When the dynamic papameters is unknown, the adaptive scheme gurantees a zero Cartesian tracking error'without the need of joint acceleration measurment'. Two-link planar space robot system is simulated to verify the proposed adaptive control scheme.
| Original language | English |
|---|---|
| Journal | Kongzhi Lilun Yu Yingyong/Control Theory and Applications |
| Volume | 13 |
| Issue number | 2 |
| State | Published - 1996 |
Keywords
- Adaptive control
- Robot control
- Robot kinematics and dynamics
- Space robot system
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