Adaptive sliding-mode control of space robot during manipulating unknown objects

Huang Panfeng, Yuan Jianping, Liang Bin

科研成果: 书/报告/会议事项章节会议稿件同行评审

19 引用 (Scopus)

摘要

In the future space application, space robot is playing more and more important roles in on-orbital retrieval missions, such as catching an uncontrolled and unknown satellite. As well known, the contact and impact can not be avoided fully when the space robot captures the unknown objects, However, these unknown factors, such as the unknown payload and unknown contact force and the other uncertain dynamic parameters in the space robot system, especially, the contact ad impact reaction force to the hand of space robot, will affect the robustness of the controller and the security of the space robot. Therefore, it is significant to design a composite control law that can suppress these uncertainties, we propose an adaptive sliding-model control algorithm to take care of the unknown payload and impact force. An illustrative example shows that the proposed controller is robust and perfect to suppress the uncertainties from external environment.

源语言英语
主期刊名2007 IEEE International Conference on Control and Automation, ICCA
出版商Institute of Electrical and Electronics Engineers Inc.
2907-2912
页数6
ISBN(印刷版)1424408180, 9781424408184
DOI
出版状态已出版 - 2007
活动2007 IEEE International Conference on Control and Automation, ICCA - Guangzhou, 中国
期限: 30 5月 20071 6月 2007

出版系列

姓名2007 IEEE International Conference on Control and Automation, ICCA

会议

会议2007 IEEE International Conference on Control and Automation, ICCA
国家/地区中国
Guangzhou
时期30/05/071/06/07

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