Trajectory Tracking and Nonparametric Identification of Flexible Space Robot Manipulators

2018 ◽  
Author(s):  
Jurek Z. Sasiadek ◽  
Steve Ulrich ◽  
Adam Krzyzak
Keyword(s):  
Trajectory Tracking ◽  
Robot Manipulators ◽  
Space Robot ◽  
Nonparametric Identification

scholarly journals Sectorial Fuzzy Controller Plus Feedforward applied to the Trajectory Tracking of Robot Manipulators

2020 ◽  
Vol 53 (2) ◽  
pp. 9918-9923
Author(s):  
Andres O. Pizarro-Lerma ◽  
Victor Santibanez ◽  
Ramon Garcia-Hernandez ◽  
Jorge Villalobos Chin
Keyword(s):  
Trajectory Tracking ◽  
Fuzzy Controller ◽  
Robot Manipulators

scholarly journals End-Effector Trajectory Tracking Control of Space Robot withL2Gain Performance

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Haibo Zhang ◽  
Dayi Wang ◽  
Chunling Wei ◽  
Bing Xiao
Keyword(s):  
Trajectory Tracking ◽  
External Disturbance ◽  
Adaptive Controller ◽  
Space Robot ◽  
Disturbance Attenuation ◽  
Trajectory Tracking Control ◽  
End Effector ◽  
Chebyshev Neural Network ◽  
System Output ◽  
System Uncertainties

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 ofL2gain disturbance attenuation from external disturbance to system output. The tracking performance is evaluated through a numerical example.

Global trajectory tracking through output feedback for robot manipulators with bounded inputs

2011 ◽  
Vol 13 (3) ◽  
pp. 430-438 ◽  
Author(s):  
A. Zavala-Río ◽  
E. Aguiñaga-Ruiz ◽  
V. Santibáñez
Keyword(s):  
Trajectory Tracking ◽  
Output Feedback ◽  
Robot Manipulators ◽  
Global Trajectory
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