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(Reference retrieved automatically from Google Scholar through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Experimental investigation on adaptive robust controller designs applied to a free-floating space manipulator

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Author(s):
Pazelli, Tatiana F. P. A. T. [1] ; Terra, Marco H. [1] ; Siqueira, Adriano A. G. [2]
Total Authors: 3
Affiliation:
[1] Univ Sao Paulo, Dept Elect Engn, BR-13566590 Sao Carlos, SP - Brazil
[2] Univ Sao Paulo, Dept Mech Engn, BR-13566590 Sao Carlos, SP - Brazil
Total Affiliations: 2
Document type: Journal article
Source: CONTROL ENGINEERING PRACTICE; v. 19, n. 4, p. 395-408, 2011.
Web of Science Citations: 19
Abstract

This paper aims to formulate and investigate the application of various nonlinear H-infinity control methods to a fiee-floating space manipulator subject to parametric uncertainties and external disturbances. From a tutorial perspective, a model-based approach and adaptive procedures based on linear parametrization, neural networks and fuzzy systems are covered by this work. A comparative study is conducted based on experimental implementations performed with an actual underactuated fixed-base planar manipulator which is, following the DEM concept, dynamically equivalent to a free-floating space manipulator. (C) 2011 Elsevier Ltd. All rights reserved. (AU)