Abstract
According to trajectory tracking control of space robot with parameters uncertainties, the disturbance on space robot trajectory tracking is taken into consideration. Firstly, robust controller is applied to compensate the coriolis force, centrifugal force and other disturbance. Robust control law with items uncertainties compensated is improved. The desired time-varying trajectory can be real-time tracked by manipulators while the attitude of space robot can be controlled. The compensation matrix is proposed. Uncertainty item range can be solved based on PSO and it can be applied to control manipulators. The simulation results show that the robust controller has a good performance.
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Xu, G., Zhang, M., Wang, H. (2011). Robust Controller Design for One Arm Space Manipulator with Uncertainties Compensated. In: Yang, D. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 133. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25992-0_8
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DOI: https://doi.org/10.1007/978-3-642-25992-0_8
Publisher Name: Springer, Berlin, Heidelberg
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