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An Asymptotically Stable Control Scheme for Space Robot System

  • Research Article - Computer Engineering and Computer Science
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Abstract

In this manuscript, an asymptotically stable control scheme is designed for space robot system. The space robot systems are highly uncertain systems and face structured/unstructured uncertainties, unbounded disturbances and unpredictable environment interference. The inability of model-based control schemes for such uncertain systems is improved by combining with neural network-based model-free scheme together with an adaptive bound. The proposed controller achieves the desired trajectory tracking adequately. The unknown dynamics of the system is approximated with RBF neural network without the requirement of offline learning. To recompense the effect of approximation error and unknown bound on uncertainties, the adaptive bound part of the controller is utilized. In the proposed approach, we do not need joint acceleration measurements. The Lyapunov function approach is utilized to show that the proposed controller is stable and the errors are asymptotically convergent. Finally, the numerical simulation studies are performed to validate the proposed approach and the effectiveness is shown in a comparative manner with various existing controllers.

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  1. Department of Mathematics, National Institute of Technology (NIT), Kurukshetra, Haryana, 136119, India

    Naveen Kumar

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  1. Naveen Kumar
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Correspondence to Naveen Kumar.

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Kumar, N. An Asymptotically Stable Control Scheme for Space Robot System. Arab J Sci Eng 43, 8049–8055 (2018). https://doi.org/10.1007/s13369-018-3295-y

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  • DOI: https://doi.org/10.1007/s13369-018-3295-y

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