Abstract
In this paper, the adaptive neural network control scheme of coordinated motion between the basepsilas attitude and the armspsila joints of free-floating dual-arm space robot system with uncertain parameters is considered. The controller is developed based on the neural network modeling technique. It need neither linearly parameterize the dynamic equations of system, nor know any actual inertial parameters. In addition, it neither requires the evaluation of inverse dynamical model, nor the time-consuming training process. Furthermore, the robust control can be easily incorporated to suppress the neural network modeling errors. Simulation results based on a planar free-floating dual-arm space robot system verify the feasibility of the proposed adaptive neural network control scheme.
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
