Adaptive attitude control with Lyapunov stability of nonholonomic space robot under the unstructured dynamics

Manabu Hagiwara, Kosei Ishimura, Mitsuo Wada

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This research is concerned with shape and attitude control of nonholonomic space robot. An integrator backstepping method with neural network is applied to the kinematics control of 2-dimensional free-flying space robot to expand it into dynamics control. The stability of control method is guaranteed by Lyapunov theory, even if there are some unstructured dynamics and/or unmodeled bounded disturbance. Therefore the controller does not have to know about the strict dynamical parameters of the robot. The effectiveness of proposed controller is confirmed through numerical simulations.

Original languageEnglish
Pages (from-to)2586-2592
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume71
Issue number8
Publication statusPublished - 2005 Aug 1
Externally publishedYes

Fingerprint

Attitude control
Robots
Controllers
Backstepping
Kinematics
Neural networks
Computer simulation

Keywords

  • Attitude Control
  • Backstepping Method
  • Lyapunov Stability
  • Neural Network
  • Nonholonomic System
  • Space Robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

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AB - This research is concerned with shape and attitude control of nonholonomic space robot. An integrator backstepping method with neural network is applied to the kinematics control of 2-dimensional free-flying space robot to expand it into dynamics control. The stability of control method is guaranteed by Lyapunov theory, even if there are some unstructured dynamics and/or unmodeled bounded disturbance. Therefore the controller does not have to know about the strict dynamical parameters of the robot. The effectiveness of proposed controller is confirmed through numerical simulations.

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