کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413194 | 679903 | 2011 | 7 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: On adaptive inverse dynamics for free-floating space manipulators On adaptive inverse dynamics for free-floating space manipulators](/preview/png/413194.png)
This paper is devoted to the investigation of adaptive inverse dynamics for free-floating space manipulators (FFSMs) suffering from parameter uncertainties/variations. To overcome the nonlinear parametric problem of the dynamics of FFSMs, we introduce a new regressor matrix called the generalized dynamic regressor. Based on this regressor, and with Lyapunov stability analysis tools, we obtain a new parameter adaptation law and show that the closed-loop system is stable, and that the joint tracking errors converge asymptotically to zero. Simulation results are provided to illustrate the performance of the proposed adaptive algorithm. Furthermore, we conduct a comparative study between adaptive inverse dynamics, prediction error based adaptation, and passivity based adaptation.
► We propose an adaptive inverse dynamics controller for free-floating space robots.
► A new dynamic regressor is proposed to conquer the nonlinearly parametric problem.
► A novel parameter adaptation law is derived using Lyapunov stability tools.
► We conduct comparative studies between the proposed approach and the existing ones.
Journal: Robotics and Autonomous Systems - Volume 59, Issue 10, October 2011, Pages 782–788