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.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 2005 8月|
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