具有未知载荷参数的漂浮基空间机械臂姿态、关节协调运动的模糊自适应补偿控制.pdfVIP

0254-6124/2009/29(3)-338–08 Chin. J. Space Sci.  Liang Jie, Chen Li. Fuzzy adaptive compensator control for free-floating space manipulator with unknown payload parameters to track desired trajectory in joint space. Chin. J. Space Sci., 2009, 29(3): 338∼345     Æ          ∗  (   350002)      ,         Æ      .           ,             . DZ  ,                 ,                          ,                  ,                  .            DZ                ,  Æ        ,                  ,  DZ              .          .    ;  Æ   ;         ;          V 43 Fuzzy Adaptive Compensator Control for Free-floating Space Manipulator With Unknown Payload Parameters to Track Desired Trajectory in Joint Space LIANG Jie CHEN Li (College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350002) Abstract In this paper, when the case of the attitude of base controlled and its location un- controlled, we discuss the control for free-floating space manipulator to track desired