NDLI: Adaptive Neural Network Control of Free-Floating Space Manipulator System in Joint Space

Content Provider	IEEE Xplore Digital Library
Author	Guo Yishen Chen Li
Copyright Year	2007
Description	Author affiliation: Fuzhou Univ., Fuzhou (Guo Yishen; Chen Li)
Abstract	In this paper, the adaptive neural network control of space manipulator system is discussed. Firstly, the dynamic equations of free-floating space manipulator system are derived through the Lagrangian formulation. Based on the above results, space manipulator system is modeled through the neural network technique. And then an adaptive neural network control scheme of space manipulator system with unknown parameters to track desired trajectories in joint space is developed. The proposed control scheme need neither linearly parameterize the dynamic equations of system, nor know any actual inertial parameters. In addition, it does not require the time-consuming training process offline and saves the time of neural network training. Lastly, a simulation study of a planar free-floating space manipulator system is presented. The simulation results show that the proposed control scheme is feasible and effective.
Starting Page	117
Ending Page	120
File Size	431196
Page Count	4
File Format	PDF
ISBN	9787811240559
DOI	10.1109/CHICC.2006.4347035
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive systems Adaptive Control Control systems Educational institutions Joint Space Adaptive control Mechanical engineering Equations Programmable control Neural Network Neural networks Bismuth Free-Floating Space Manipulator System Manipulator dynamics
Content Type	Text
Resource Type	Article

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