Back-stepping Control of Free-Floating Space Robot based on Adaptive Neural Network

Wang Cao, Lin Senhai, Ye Xiaoping, Jiang Jie, Zhang Wenhui

Abstract


Trajectory tracking control problems of the free-floating space robot are considered by the paper, back-stepping control method based on adaptive neural network is put forward. The complex system is decomposed into several simple sub-systems. The control laws are designed by derived, so that closed-loop stability can be obtained by each subsystem; Because of the influence of interference and the measurement level limitation, accurate mathematical model is difficult to be obtained. Neural network controller of good nonlinear approximation ability is designed to compensate the uncertainty of system model. Adaptive learning laws are designed to ensure that weights can be adjusted online real-time. The system uniformly ultimately bounded (UUB) is proved based on the Lyapunov theory. Simulation experiments show that the control method can fast track the desired trajectory, and has a good application value for space robotic manipulators with uncertainty.

Keywords


neural network; back-stepping control; space robotic manipulators; adaptive control; uniformly ultimately bounde;

Full Text:

PDF


DOI: http://dx.doi.org/10.12928/telkomnika.v15i1.4588

Article Metrics

Abstract view : 265 times
PDF - 319 times

Refbacks

  • There are currently no refbacks.


Copyright (c) 2019 Universitas Ahmad Dahlan

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

TELKOMNIKA Telecommunication, Computing, Electronics and Control
ISSN: 1693-6930, e-ISSN: 2302-9293
Universitas Ahmad Dahlan, 4th Campus, 9th Floor, LPPI Room
Jl. Ringroad Selatan, Kragilan, Tamanan, Banguntapan, Bantul, Yogyakarta, Indonesia 55191
Phone: +62 (274) 563515, 511830, 379418, 371120 ext. 4902, Fax: +62 274 564604

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

View TELKOMNIKA Stats