The freefloating space manipulator dynamic equations and neural network model in task space based on Graphic Language (GL) matrix have been proposed. Neural network and adaptive control were combined to design a control law for uncertain space manipulator dynamic equation, with a usual Jacobian matrix of size parameters to approximate the generalized Jacobian matrix. The control problem without the system parameters and uncertain model was solved, and the proof of stability was given. Finally, the simulation results have shown that the proposed method is validated for two dimensional (2D) freefloating space manipulator.
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王丽娟,吕丽平,张玉宏.任务空间内不确定性空间机器人智能控制方法[J].机床与液压,2018,46(15):50-54. . Intelligent Control Method for Uncertain Space Manipulator in Task Space[J]. Machine Tool & Hydraulics,2018,46(15):50-54