中国机械工程2001，Vol.12Issue(5)：582-585,4.
空间机械臂姿态及关节运动的自适应与鲁棒控制
The Adaptive and Robust Control Scheme of Space Manipulator Systems
摘要
Abstract
In this paper,a coordinated control of the base attitude and itsarm's joints of space manipulator systems was studied. With the ideas of augmentation approach,the difficulties of nonlinear parameterization of the system dynamic equations were overcome. Based on the results proposed above,the adaptive and robust control schemes of coordinated motion for both the base attitude and itsarm's joints to trace the desired trajectory were developed. A two-link planar space manipulator systems was simulated to verify the proposed two control scheme.关键词
漂浮基空间机械臂/增广变量法/自适应控制/鲁棒控制分类
信息技术与安全科学引用本文复制引用
陈力,刘延柱..空间机械臂姿态及关节运动的自适应与鲁棒控制[J].中国机械工程,2001,12(5):582-585,4.基金项目
国家自然科学基金资助项目 （）
