Abstract
Based on the concept of reaction null-space, a new distributed momentum control is proposed. The new scheme guarantees the stability of carrier attitude and the convergent property of end-effector tracking error during space manipulator capturing object. When the dynamic parameters contain errors or changes caused by the payload, according to online parameter identification an adaptive scheme is developed to avoid the effect of parameters errors on the carrier attitude, achieve trajectory tracking of the end-effector, and then accommodate various non-modeled disturbances simultaneously. Finally, simulation result confirms the effectiveness of the algorithm.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
