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End-Effector Trajectory Tracking Control of Space Robot with L 2 Gain Performance
Joint Authors
Zhang, Haibo
Wang, Dayi
Wei, Chunling
Xiao, Bing
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-01
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper presents a novel solution to the control problem of end-effector robust trajectory tracking for space robot.
External disturbance and system uncertainties are addressed.
For the considered robot operating in free-floating mode, a Chebyshev neural network is introduced to estimate system uncertainties and external disturbances.
An adaptive controller is then proposed.
The closed-loop system is guaranteed to be ultimately uniformly bounded.
The key feature of this proposed approach is that, by choosing appropriate control gains, it can achieve any given small level of L 2 gain disturbance attenuation from external disturbance to system output.
The tracking performance is evaluated through a numerical example.
American Psychological Association (APA)
Zhang, Haibo& Wang, Dayi& Wei, Chunling& Xiao, Bing. 2015. End-Effector Trajectory Tracking Control of Space Robot with L 2 Gain Performance. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1073121
Modern Language Association (MLA)
Zhang, Haibo…[et al.]. End-Effector Trajectory Tracking Control of Space Robot with L 2 Gain Performance. Mathematical Problems in Engineering No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1073121
American Medical Association (AMA)
Zhang, Haibo& Wang, Dayi& Wei, Chunling& Xiao, Bing. End-Effector Trajectory Tracking Control of Space Robot with L 2 Gain Performance. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1073121
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073121