Adaptive Control Strategy for Space Robot Target Manipulation Based on Decoupled Dynamic Modeling

The manipulation or grasping of unknown objects represents an important task for free-floating space robots. The dynamic coupling between the target object and the robot often introduces complexity into the control design. To address this, we employ an extended Rosenberg embedding method to dynamica...

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Bibliographic Details
Published in:	IEEE transactions on aerospace and electronic systems Vol. 61; no. 4; pp. 9235 - 9246
Main Authors:	Yu, Jin, Jiang, Hankun, Wang, Xiaoyi, Jiang, Bingrun, Zeru, Rediet Tesfaye, Chai, Senchun
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.08.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptation models Adaptive control Aerodynamics Aerospace electronics Automation decoupled dynamics Dynamic models extended Rosenberg embedding method (EREM) Flight safety free-floating space robot (FFSR) Mathematical models Parameter uncertainty Robot control Robot dynamics Robot kinematics Robots Space robots Space vehicles Tracking Trajectories Uncertainty
ISSN:	0018-9251, 1557-9603
Online Access:	Get full text
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