• •

### 一类空间机械臂的复合自适应控制

1. 北京控制工程研究所!北京100080,北京控制工程研究所!北京100080,北京控制工程研究所!北京100080,北京控制工程研究所!北京100080
• 发布日期:2000-06-25

### Composite Adaptive Control for Space Manipulators

Wang Jing Wang Haoying Liu Liangdong Liang Bin (Beijing Institute of Control Engineering, Beijing 100080)

• Published:2000-06-25

Abstract: For the space manipulator with an attitude-controlled base, the parameters of the adaptive control is generally driven by tracking errors. But except of tracking errors, the prediction errors also include parameter information. The detailed analysis of the dynamic characteristics of the space manipulator with an attitude-controlled base is provided, the prediction model for the system is developed, and a composite adaptive control algorithm in which the parameters is driven by both tracking errors and prediction errors is presented. Results on global asymptotic and quick tracking convergence are established and confirmed by simulation.