文章基本信息

标题：Adaptive Robust Control Free-Floating Space Robotic Manipulators based on RBF Neural Network
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作者：Hu Xiaoping ; Zhang Wenhui ; Ji Xiaoming 等
期刊名称：International Journal of Computer Science Issues
印刷版ISSN：1694-0784
电子版ISSN：1694-0814
出版年度：2012
卷号：9
期号：6
出版社：IJCSI Press
摘要：Problems of trajectory tracking of the free-floating space robotic manipulators model with uncertainties are studied. An adaptive robust control algorithm of space manipulators based on radial basis function neural network (RBFNN) is proposed by the paper. Neural network controller is used to adaptive learn and compensate the unknown system, approach errors as disturbance are eliminated by robust controller. The weight adaptive laws on-line based on Lyapunov theory can ensure stability of system. The robust controller was proposed based on H theory. Above these assured the stability of the whole system, and L2 gain also was less than the index. This control scheme possesses great control accuracy and dynamic function. The simulation results show that the presented neural network control algorithm is effective.
关键词：Neural network; Space robotic manipulators; Adaptive robust control; Trajectory tracking