Study on neural network adaptive control method for uncertain space manipulator

被引：0
|
作者：
Xie J. [1 ]
Liu G.-L. [1 ]
Yan S.-Z. [1 ]
Xu W.-F. [2 ]
Qiang W.-Y. [1 ]
机构：
[1] Dept. of Control Science and Engineering, Harbin Institute of Technology
[2] Institute of Space Intelligent System, Harbin Institute of Technology
来源：
Yuhang Xuebao/Journal of Astronautics | 2010年 / 31卷 / 01期
关键词：
Adaptive control; Neural network; Path planning; Space manipulator;
D O I：
10.3873/j.issn.1000-1328.2010.01.020
中图分类号：
学科分类号：
摘要：
An adaptive control method based on neural network for the model uncertainty of free float space manipulator is proposed. A RBF neural network is used to approximate the nonlinear model of the space manipulator and learn the upper bound of the dynamic uncertainty. The neural network UUB problem is solved by the adaptive law, and path planning of free float space manipulator in Cartesian space is completed. The adaptive law for the weights of RBF neural network is presented which can ensure the stability of the space manipulator system. Simulations illustrate that the method avoids parameter linearization of the space manipulator dynamic model and decreases the computation, satisfy the actual mission of real-time as well.
引用
收藏
页码：123 / 129
页数：6
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