End-Effector Trajectory Tracking Control of Space Robot with L2 Gain Performance. (1st October 2015)

• Record Type: Journal Article
• Authors: Zhang, Haibo; Wang, Dayi; Wei, Chunling; Xiao, Bing
• Other Names: Yan Xinggang Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2015(2015)
• Publication Date: 2015-10-01
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2015/175342
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : This paper presents a novel solution to the control problem of end-effector robust trajectory tracking for space robot. External disturbance and system uncertainties are addressed. For the considered robot operating in free-floating mode, a Chebyshev neural network is introduced to estimate system uncertainties and external disturbances. An adaptive controller is then proposed. The closed-loop system is guaranteed to be ultimately uniformly bounded. The key feature of this proposed approach is that, by choosing appropriate control gains, it can achieve any given small level ofL 2 gain disturbance attenuation from external disturbance to system output. The tracking performance is evaluated through a numerical example.