Adaptive control of free floating space manipulators

PARLAKTUNA O., ÖZKAN M.

SMC 2000 Conference Proceedings. 2000 IEEE International Conference on Systems, Man and Cybernetics. 'Cybernetics Evolving to Systems, Humans, Organizations, and their Complex Interactions' (Cat. No.00CH37166), Nashville, TN, USA, United States Of America, 8 - 11 October 2000, vol.5, pp.3324-3329, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 5
  • Doi Number: 10.1109/icsmc.2000.886518
  • City: Nashville, TN, USA
  • Country: United States Of America
  • Page Numbers: pp.3324-3329
  • Eskisehir Osmangazi University Affiliated: Yes

Abstract

In this paper, we model a free-floating space manipulator system using Dynamically Equivalent Model (DEM) approach The DEM is a fixed-base manipulator system and allows us to linearly parameterize the dynamic equations. Using this linearly parameterized dynamic equation an adaptive control method is developed to control the system In joint space. Simulation results are given to show the validity of the presented identification and control scheme.