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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:

    Published in:

    Publication date :

    2014-11-01




    Type of media :

    Conference paper , Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    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

    Sasiadek, Jurek / Ulrich, Steve | AIAA | 2011


    Adaptive output‐feedback control of nonlinear systems with multiple uncertainties

    Huang, Yaxin / Liu, Yungang | British Library Online Contents | 2018