@inproceedings{1782876e51d4415a8077350fc9d0df2e,
title = "Task-space Tracking Control for Dual-arm Free-floating Space Manipulators with Disturbances and Uncertainties",
abstract = "This paper investigates task-space tracking control for dual-arm free-floating space manipulators (DFFSM) subject to unknown disturbances, kinematic and dynamic uncertainties. First, we design a sliding mode disturbance observer to compensate for the lumped disturbances, including unknown disturbances and dynamic uncertainties. Then, an adaptive dynamic surface controller (ADSC) is proposed for DFFSM system, where the uncertain kinematics is estimated by an adaptive algorithm. It is validated through Lyapunov analysis that the tracking errors of the end-effectors are uniformly ultimately bounded under the proposed control scheme. Numerical simulations validate the effectiveness of the proposed control scheme.",
keywords = "Disturbance observer, Dual-arm free-floating space manipulator, Dynamic surface control, Task space",
author = "Qian Sun and Yingmin Jia",
note = "Publisher Copyright: {\textcopyright} The 2025 International Conference on Artificial Life and Robotics (ICAROB2025).; 30th International Conference on Artificial Life and Robotics, ICAROB 2025 ; Conference date: 13-02-2025 Through 16-02-2025",
year = "2025",
language = "英语",
isbn = "9784991333729",
series = "Proceedings of International Conference on Artificial Life and Robotics",
publisher = "ALife Robotics Corporation Ltd",
pages = "539--542",
editor = "Yingmin Jia and Takao Ito and Ju-Jang Lee",
booktitle = "Proceedings of The 2025 International Conference on Artificial Life and Robotics, ICAROB 2025",
address = "日本",
}