An Adaptive Invariant Manifold-Based Switching Control for a Planar Two-Link Space Robot

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Controlling a space robot without actuators on the main body is an under-actuated control problem. As an approach to stabilization, various methods such as time-varying feedback controllers, discontinuous feedback controllers, center manifold-based methods, zero-dynamics methods, and sliding mode controllers have been proposed. However, with these methods, modeling errors and time delays have not been sufficiently considered. In order to obtain faster convergence time and compensate for modeling errors and time delays, an adaptive invariant manifold-based switching control method is proposed. In this paper, experiments are carried out to validate the proposed method, using the experimental setup of a planar two-link space robot. The experimental results show that the proposed method is capable of stabilizing the state variables in the required state, even if time delays and modeling errors exist in the system.

収録刊行物

  • Transactions of the Japan Society for Aeronautical and Space Sciences

    Transactions of the Japan Society for Aeronautical and Space Sciences 54(184), 144-152, 2011-08-04

    THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES

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各種コード

  • NII論文ID(NAID)
    10030274550
  • NII書誌ID(NCID)
    AA0086707X
  • 本文言語コード
    ENG
  • 資料種別
    ART
  • ISSN
    05493811
  • NDL 記事登録ID
    11195549
  • NDL 雑誌分類
    ZN25(科学技術--運輸工学--航空機・ロケット)
  • NDL 請求記号
    Z53-M236
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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