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Proceedings Paper

Adaptive control based on neural network for uncertain space robot
Author(s): Zhiyong Tang; Shao He; Mingyi Yang; Zhongcai Pei
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Paper Abstract

An adaptive PID control method based on RBF neural network for the free-floating dual-arm space robot's uncertain system model is proposed in this paper. Bring about the precise control of joints and carrier by the design of the control algorithm for space robot. Compared to traditional control method, its adaptive ability is stronger and requirement for the linearization of dynamic equation's inertial parameters is weak. We put it compared to the adaptive PID control method which is a traditional control methods .Having simulation in the case of luffing, frequency conversion and posture intrusive. The results of experimental demonstrate the feasibility and practicability of this method.

Paper Details

Date Published: 29 October 2011
PDF: 6 pages
Proc. SPIE 8205, 2011 International Conference on Photonics, 3D-Imaging, and Visualization, 82052Z (29 October 2011); doi: 10.1117/12.906087
Show Author Affiliations
Zhiyong Tang, BeiHang Univ. (China)
Shao He, BeiHang Univ. (China)
Mingyi Yang, BeiHang Univ. (China)
Zhongcai Pei, BeiHang Univ. (China)

Published in SPIE Proceedings Vol. 8205:
2011 International Conference on Photonics, 3D-Imaging, and Visualization
Egui Zhu, Editor(s)

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