Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration

DOI10.1016/j.automatica.2009.02.013zbMath1166.93338OpenAlexW2017708671MaRDI QIDQ923831

Hanlei Wang, Yongchun Xie

Publication date: 24 July 2009

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2009.02.013

zbMATH Keywords

adaptive controluncertain kinematicspassivity based controlfree-floating space manipulators

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (8)

ℒ2 performance control of robot manipulators with kinematics, dynamics and actuator uncertainties ⋮ Double-layer prescribed performance control of free-floating space manipulators after capturing unknown targets ⋮ Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties ⋮ On the recursive adaptive control for free-floating space manipulators ⋮ Passivity‐based adaptive output tracking control for switched nonlinear systems with uncertain parameters ⋮ Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics ⋮ A unified approach to input-output linearization and concurrent control of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints ⋮ Adaptive coordinated control of uncertain free-floating space manipulators with prescribed control performance

Cites Work

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• Adaptive Jacobian Tracking Control of Robots With Uncertainties in Kinematic, Dynamic and Actuator Models
• Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics

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