Control of Free-floating Space Robotic Manipulators base on Neural Network
For problems of trajectory tracking of the free-floating space robot model with uncertainties in task space, neural networks adaptive control strategy is put forward by this paper. Because the non-linear system model can not be obtained accurately, neural network is used to directly identify all parts of the system parameters through GL matrix and its multiplication operator "•". Robust controller is designed to eliminate the approximation errors of neural network and external disturbances. The control strategy neither requires an estimate of inverse dynamic model, nor calculates the inverse Jacobin matrix. Global asymptotic stability based on Lyapunov theory is proved by the paper. Simulation results show that higher control precision is achieved. The control strategy has great value in engineering applications.
Keywords: Neural network, GL matrix, Space robot, Adaptive control, Global asymptotic stability
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ABOUT THE AUTHORS
Zhang Wenhui
ZHANG Wenhui received the B.S and the M.S degree from Harbin Institute of Technology ,Harbin, China, in 2004 and 2008 . He received his Ph.D. degree in Harbin Institute of Technology in 2011. Currently,Dr.zhang has been a School hire associate professor in Lishui University. His papers are Published more than 20 articles.His research interests focus on intelligent control with application to robots.
ZHU Yinfa received the M.S degree from Tongji University in 2004. Currently, he has been an associate professor in Lishui University. His papers are Published more than 30 articles.His research interests focus on neural network control and fuzzy cotrol.
Zhang Wenhui
ZHANG Wenhui received the B.S and the M.S degree from Harbin Institute of Technology ,Harbin, China, in 2004 and 2008 . He received his Ph.D. degree in Harbin Institute of Technology in 2011. Currently,Dr.zhang has been a School hire associate professor in Lishui University. His papers are Published more than 20 articles.His research interests focus on intelligent control with application to robots.
ZHU Yinfa received the M.S degree from Tongji University in 2004. Currently, he has been an associate professor in Lishui University. His papers are Published more than 30 articles.His research interests focus on neural network control and fuzzy cotrol.
