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

Manabu Hagiwara; Kosei Ishimura; Mitsuo Wada

doi:10.1299/kikaic.71.2586

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

Manabu Hagiwara, Kosei Ishimura, Mitsuo Wada

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	2586-2592
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	71
Issue number	8
DOIs	https://doi.org/10.1299/kikaic.71.2586
Publication status	Published - 2005 Aug
Externally published	Yes

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

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10.1299/kikaic.71.2586

Cite this

Adaptive attitude control with Lyapunov stability of nonholonomic space robot under the unstructured dynamics. / Hagiwara, Manabu; Ishimura, Kosei; Wada, Mitsuo.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 71, No. 8, 08.2005, p. 2586-2592.

Research output: Contribution to journal › Article › peer-review

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

Abstract

Keywords

ASJC Scopus subject areas

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