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

Autor(es)

Pazelli, Tatiana F. P. A. T. ^[1] ; Terra, Marco H. ^[1] ; Siqueira, Adriano A. G. ^[2]

Afiliação do(s) autor(es)

^[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

• Tipo de documento: Artigo Científico
• Fonte: CONTROL ENGINEERING PRACTICE; v. 19, n. 4, p. 395-408, 2011.
• Citações Web of Science: 19

Resumo

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)

• Processo FAPESP: 03/12001-0 - Controladores adaptativos não lineares com critério hinf aplicados em um robô espacial
• Beneficiário: Tatiana de Figueiredo Pereira Alves Taveira Pazelli
• Modalidade de apoio: Bolsas no Brasil - Mestrado
• Processo FAPESP: 06/03951-2 - Montagem e controle H-infinito não linear de um robô manipulador de base flutuante
• Beneficiário: Tatiana de Figueiredo Pereira Alves Taveira Pazelli
• Modalidade de apoio: Bolsas no Brasil - Doutorado