Volume 33 Issue 2
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Xie Limin, Chen Li. Adaptive control based on saturated velocity filter for space-based manipulator system with bounded control torques[J]. Chinese Journal of Space Science, 2013, 33(2): 213-218. doi: 10.11728/cjss2013.02.213
Citation: Xie Limin, Chen Li. Adaptive control based on saturated velocity filter for space-based manipulator system with bounded control torques[J]. Chinese Journal of Space Science, 2013, 33(2): 213-218. doi: 10.11728/cjss2013.02.213
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Adaptive control based on saturated velocity filter for space-based manipulator system with bounded control torques

doi: 10.11728/cjss2013.02.213

  • School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108

  • Received Date: 2011-11-29
  • Rev Recd Date: 2012-07-19
  • Publish Date: 2013-03-15
    Abstract
  • The intelligent control problem of space-based manipulator system with bounded control torques and uncertain parameters is studied. According to the system's momentum conservation and Lagrange's equation, the system's dynamics equation is established. An adaptive control based on saturated velocity filter for space-based manipulator system with bounded control torques and uncertain payload parameters is developed. The proposed control scheme overcomes the influence of the uncertain parameters on the control accuracy by using adaptive controller; limits the control torques by using hyperbolic functions, which lets the control more realistic. And in the control process, it doesn't need to measure and feed back the system's velocity signal by using the velocity filter, which makes the control simpler. The simulation validates the effectiveness of the proposed control scheme.

     

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