Growing research interest in space robotic systems capable of accurately performing autonomous manipulation tasks within an acceptable execution time has led to an increased demand for lightweight materials and mechanisms. As a result, joint flexibility effects become important and represent the main limitation to achieving satisfactory trajectory-tracking performance. This paper addresses the nonlinear adaptive output feedback control problem for flexible-joint space manipulators. Composite control schemes in which decentralized simple adaptive control-based adaptation mechanisms to control the quasi-steady-state robot model are added to a linear correction term to stabilize the boundary-layer model are proposed. An almost strictly passivity-based approach is adopted to guarantee closed-loop stability of the quasi-steady-state model. Simulation results are included to highlight the performance and robustness of the proposed adaptive composite control methodologies to parametric and dynamics modeling uncertainties.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear Adaptive Output Feedback Control of Flexible-Joint Space Manipulators with Joint Stiffness Uncertainties


    Beteiligte:
    Ulrich, Steve (Autor:in) / Sasiadek, Jurek Z. (Autor:in) / Barkana, Itzhak (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2014-05-09


    Format / Umfang :

    15 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Nonlinear Adaptive Output Feedback Control of Flexible-Joint Space Robot Manipulators

    Ulrich, Steve / Sasiadek, Jurek Z. / Barkana, Itzhak | AIAA | 2013


    Nonlinear Adaptive Output Feedback Control of Flexible-Joint Space Robot Manipulators (AIAA 2013-4523)

    Ulrich, S. / Sasiadk, J.Z. / Barkana, I. et al. | British Library Conference Proceedings | 2013




    Control Strategies for Flexible Joint Manipulators

    Ulrich, S. / Sasiadek, J. / American Institute of Aeronautics and Astronautics; Conferderation of European Aerospace Societies | British Library Conference Proceedings | 2011