Mixed Model Based/fuzzy Adaptive Robust Controller with H∞ Criterion Applied to Free-floating Space Manipulators
نویسندگان
چکیده
This paper deals with the problem of robust trajectory tracking control, with a guaranteed H∞ performance, for free-floating manipulator systems. A new control strategy is developed based on the robot mathematical model and a fuzzy adaptive control law. The dynamic model of the free-floating space manipulator is described through the Dynamically Equivalent Manipulator approach. The fuzzy adaptive control law is based on Takagi-Sugeno model, which is proposed to estimate the behavior of parametric uncertainties and spacecraft non-modeled dynamics. A nonlinear H∞ controller is formulated in order to attenuate the effect of estimation errors and external disturbances in the joint positions to be controlled. Simulation results are presented to show the effectiveness of this new approach. Keywords— Adaptive Control, Robust Control, T-S Fuzzy System, Free-Floating Space Manipulators.
منابع مشابه
Mixed Model Based/ANFIS Adaptive Robust Controller with H∞ Criterion Applied to Free-Floating Space Manipulators
This paper deals with the problem of robust trajectory tracking control, with a guaranteedH∞ performance, for free-floating manipulator systems. A control strategy is developed based on the robot mathematical model and a fuzzy adaptive approach. The dynamic model of the free-floating space manipulator is described via the Dynamically Equivalent Manipulator approach. The fuzzy adaptive control l...
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