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• W2131109065 abstract "In this paper, we have presented an adaptive Jacobian tracking controller for free-floating space manipulators with uncertainties in both kinematics and dynamics. Due to the nonlinearly parametric nature of the dynamics of free-floating manipulators, the conventional linearly-parametric-model based adaptive control schemes cannot work. But here we do not perform controller design based on the conventional dynamics of free-floating space manipulators. Instead, we attempt to resolve this problem based on normal form augmentation approach. And we have also, for the first time, presented a complete stability analysis of the normal form augmentation based scheme. The applicability and the restriction of this approach has been discussed. Simulation results are presented to show the performance of the proposed controller." @default.
• W2131109065 created "2016-06-24" @default.
• W2131109065 creator A5007643306 @default.
• W2131109065 creator A5013570618 @default.
• W2131109065 date "2009-12-01" @default.
• W2131109065 modified "2023-09-23" @default.
• W2131109065 title "Stability analysis of adaptive Jacobian controller for free-floating space manipulators" @default.
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• W2131109065 doi "https://doi.org/10.1109/cdc.2009.5399602" @default.
• W2131109065 hasPublicationYear "2009" @default.
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