Volume 31 Issue 6
Nov.  2011
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HUANG Dengfeng, CHEN Li. Tracking Control for Coordinated Motion of Space Manipulator in Joint Space Based on Fuzzy Wavelet Neural Network[J]. Chinese Journal of Space Science, 2011, 31(6): 821-828. doi: 10.11728/cjss2011.06.821
Citation: HUANG Dengfeng, CHEN Li. Tracking Control for Coordinated Motion of Space Manipulator in Joint Space Based on Fuzzy Wavelet Neural Network[J]. Chinese Journal of Space Science, 2011, 31(6): 821-828. doi: 10.11728/cjss2011.06.821

Tracking Control for Coordinated Motion of Space Manipulator in Joint Space Based on Fuzzy Wavelet Neural Network

doi: 10.11728/cjss2011.06.821
  • Received Date: 2010-08-04
  • Rev Recd Date: 2011-05-16
  • Publish Date: 2011-11-15
  • The trajectory tracking control for coordinated motion of free-floating space manipulator system with an attitude controlled base is discussed. According to the geometrical relationship and law of conservation of momentum, the dynamic equations of space manipulator system are constituted through Lagrange equation of the second kind. Based on the above, a fuzzy wavelet neural network scheme is designed to control the base attitude and the joint angle of manipulator to track desired trajectories synchronously in joint space on condition that system parameters are unknown. The control scheme needs neither linearly parameterize the dynamic equations of the system, nor know any system parameters. Further more, its network weights are learning online based on errors by back propagation algorithm so the self-learning and self-adapting ability of fuzzy neural network is enhanced and meantime the offline training time is saved. Numerical simulations are presented to verify the feasibility and effectiveness of the proposed control scheme.

     

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