抄録
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.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 2586-2592 |
| ページ数 | 7 |
| ジャーナル | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| 巻 | 71 |
| 号 | 8 |
| DOI | |
| 出版ステータス | Published - 2005 8月 |
| 外部発表 | はい |
ASJC Scopus subject areas
- 材料力学
- 機械工学
- 産業および生産工学