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- W2886006925 abstract "In this paper, the dynamic evolution for a dual-arm space robot capturing a spacecraft is studied, the impact effect and the coordinated stabilization control problem for post-impact closed chain system are discussed. At first, the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach, and the dynamic equations of a spacecraft are obtained by Newton-Euler method. Based on the results, with the process of integral and simplify, the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law. The closed chain system is formed in the post-impact phase. Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics. With the closed chain constraint equations, the composite system dynamic equations are derived. Secondly, the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter. In order to overcome the effects of uncertain system inertial parameters, the recurrent fuzzy neural network is used to approximate the unknown part, the control method with H∞ tracking characteristic. According to the Lyapunov theory, the global stability is demonstrated. Meanwhile, the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators. At last, numerical examples simulate the response of the collision, and the efficiency of the control scheme is verified by the simulation results." @default.
- W2886006925 created "2018-08-22" @default.
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- W2886006925 date "2018-01-01" @default.
- W2886006925 modified "2023-10-16" @default.
- W2886006925 title "The fuzzy neural network control with H tracking characteristic of dual-arm space robot after capturing a spacecraft" @default.
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- W2886006925 doi "https://doi.org/10.1109/jas.2018.7511180" @default.
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