| Full text | |
| Author(s): |
Pazelli, Tatiana de F. P. A. T.
;
Terra, Marco H.
;
Siqueira, Adriano A. G.
;
IEEE
Total Authors: 4
|
| Document type: | Journal article |
| Source: | 2010 AMERICAN CONTROL CONFERENCE; v. N/A, p. 6-pg., 2010-01-01. |
| Abstract | |
This paper deals with the problem of robust trajectory tracking control for free-floating manipulator systems subject to plant uncertainties and external disturbances. The system model is described through the Dynamically Equivalent Manipulator approach and the tracking problem is formulated directly in task space. Two adaptive techniques are developed considering nonlinear H-infinity controllers and artificial neural networks. Experimental results are obtained from an under-actuated three-link fixed-base planar manipulator dynamically equivalent to a two-link free-floating planar space manipulator. (AU) | |