Dynamics and Noncollocated Model‐Free Position Control for a Space Robot with Multi‐Link Flexible Manipulators

In this paper, both the dynamics and noncollocated model‐free position control (NMPC) for a space robot with multi‐link flexible manipulators are developed. Using assumed modes approach to describe the flexible deformation, the dynamic model of the flexible space robotic system is derived with Lagra...

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Bibliographic Details
Published in:	Asian journal of control Vol. 21; no. 2; pp. 714 - 724
Main Authors:	Yang, Xinxin, Ge, Shuzhi Sam, Liu, Jinkun
Format:	Journal Article
Language:	English
Published:	Hoboken Wiley Subscription Services, Inc 01.03.2019
Subjects:	Algorithms Computer simulation Deformation Dynamic models Dynamics Economic models Feedback Flexible manipulators Liapunov direct method model‐free position control noncollocated feedback Parameter uncertainty Robot arms Robot control Robots Robust control Robustness (mathematics) space robot Space robots Vibration control
ISSN:	1561-8625, 1934-6093
Online Access:	Get full text
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