Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)

For space robots, it is difficult to track continuous time-varying manifolds on SE(3) by using traditional closed-loop control strategies, which are designed to track the position and the attitude separately. Therefore, the dynamics model should be rebuilt, and the corresponding control strategy sho...

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Veröffentlicht in:	International Journal of Aerospace Engineering Jg. 2023; S. 1 - 14
Hauptverfasser:	Wang, Yong, Gong, Kejie, Duan, Yurui, He, Boyong, Ma, Hong
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York Hindawi 19.04.2023 John Wiley & Sons, Inc Wiley
Schlagworte:	Aerospace engineering Analysis Closed loops Control algorithms Control theory Dynamic models End effectors Feedback control Fuzzy control Jacobi matrix method Jacobian matrix Kinematics Lie groups Methods Mode tracking Numerical analysis Proportional derivative Robot control Robotics industry Robots Robust control Screw theory Simulation Simulation methods Sliding mode control Space robots Tracking control Trajectory control Variables Velocity
ISSN:	1687-5966, 1687-5974
Online-Zugang:	Volltext
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