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oai:kanazawa-u.repo.nii.ac.jp:00009712 2024-06-20T06:16:20Z 934:935:936

宇宙ロボットの適応制御 Adaptive Control of Space Robots 泉田, 啓 長岡, 秀行 室津, 義定 Copyright© 社団法人 日本ロボット学会 This paper is concerned with an adaptive control of free-flying space robots with uncertain inertial parameters of payloads. It is applicable to control all of the position and attitude of the satellite vehicle as well as that of the manipulator hand if the satellite has position/attitude control devices, e.g., thrusters and control momentum gyros. The proposed adaptive control realizes high control performance by estimating unknown parameters even if a control model has an error to the real plant caused by the payload. Asymptotic stability of the adaptive control is proven by Lyapunov's second method. The effectiveness is examined by numerical simulations for a hardware experimental system. 日本ロボット学会 = The Robotics Society of Japan 1998-09-15 2017-10-03 jpn journal article VoR http://hdl.handle.net/2297/28567 https://kanazawa-u.repo.nii.ac.jp/records/9712 https://japanlinkcenter.org/JST.Journalarchive/jrsj1983/16.832 http://ci.nii.ac.jp/naid/10002864506 http://www.rsj.or.jp/index.html AN00141189 0289-1824 日本ロボット学会誌 = Journal of the Robotics Society of Japan 16 6 832 838 https://kanazawa-u.repo.nii.ac.jp/record/9712/files/TE-PR-SENDA-K-832.pdf application/pdf 2.6 MB 2017-10-03