Robust Adaptive Coordination Controller for a Spacecraft Equipped with a Robotic Manipulator

2016 ◽  
Vol 39 (12) ◽  
pp. 2699-2711 ◽  
Author(s):  
Hiranya S. Jayakody ◽  
Lingling Shi ◽  
Jay Katupitiya ◽  
Nathan Kinkaid
2019 ◽  
Vol 17 (9) ◽  
pp. 2193-2202 ◽  
Author(s):  
Saim Ahmed ◽  
Haoping Wang ◽  
Muhammad Shamrooz Aslam ◽  
Imran Ghous ◽  
Irfan Qaisar

Robotica ◽  
2018 ◽  
Vol 36 (5) ◽  
pp. 767-786 ◽  
Author(s):  
Joseph Jean-Baptiste Mvogo Ahanda ◽  
Jean Bosco Mbede ◽  
Achille Melingui ◽  
Bernard Essimbi Zobo

SUMMARYThe problem of robust adaptive control of a robotic manipulator subjected to uncertain dynamics and joint space constraints is addressed in this paper. Command filters are used to overcome the time derivatives of virtual control, thus reducing the need for desired trajectory differentiations. A barrier Lyapunov function is used to deal with the joint space constraints. A robust adaptive support vector regression architecture is used to reduce filtering errors, approximation errors and handle dynamic uncertainties. The stability analysis of the closed-loop system using the Lyapunov theory permits to highlight adaptation laws and to prove that all signals of the closed-loop system are bounded. Simulations show the effectiveness of the proposed control strategy.


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