IEEE - Institute of Electrical and Electronics Engineers, Inc. - Stability analysis of adaptive Jacobian controller for free-floating space manipulators

2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

Author(s): Hanlei Wang ; Yongchun Xie
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Shanghai, China, China
Conference Date: 15 December 2009
Page(s): 8,174 - 8,179
ISBN (CD): 978-1-4244-3872-3
ISBN (Paper): 978-1-4244-3871-6
ISSN (CD): 0191-2216
ISSN (Paper): 0191-2216
DOI: 10.1109/CDC.2009.5399602
Regular:

In this paper, we have presented an adaptive Jacobian tracking controller for free-floating space manipulators with uncertainties in both kinematics and dynamics. Due to the nonlinearly parametric... View More

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