TY - GEN
T1 - Cellular space robot and its interactive model identification for spacecraft takeover control
AU - Chang, Haitao
AU - Huang, Panfeng
AU - Lu, Zhenyu
AU - Meng, Zhongjie
AU - Liu, Zhengxiong
AU - Zhang, Yizhai
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Facing the new challenges of the spacecraft developing, the concept of cellular space robot (CSR) for both spacecraft system construction and on-orbit operation is presented in this paper. The system description and design principles are introduced to ensure the flexibility of the system. And dynamics model for takeover control is developed. After that, the regression models for the parameter identification are deduced based on the dynamics model. An interaction model identification algorithm is presented to solve the parameter identification problem for the distributed cells. Besides, the interactive model identification is validated by simulations. The simulations show that the interactive model identification method can achieve the consensus and convergence.
AB - Facing the new challenges of the spacecraft developing, the concept of cellular space robot (CSR) for both spacecraft system construction and on-orbit operation is presented in this paper. The system description and design principles are introduced to ensure the flexibility of the system. And dynamics model for takeover control is developed. After that, the regression models for the parameter identification are deduced based on the dynamics model. An interaction model identification algorithm is presented to solve the parameter identification problem for the distributed cells. Besides, the interactive model identification is validated by simulations. The simulations show that the interactive model identification method can achieve the consensus and convergence.
UR - http://www.scopus.com/inward/record.url?scp=85006356603&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759475
DO - 10.1109/IROS.2016.7759475
M3 - 会议稿件
AN - SCOPUS:85006356603
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3069
EP - 3074
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -