Frontiers in Adaptive Control..Frontiers in Adaptive Control

inaccuracies lead to the deviation of operational space trajectory provided by the kinematicmapping.One method to deal with this issue can be found in an adaptive control. Xu and Guproposed an adaptive control scheme for space robots in both joint space and operationalspace [Xu et al., 1992, Gu & Xu, 1993]. However, the adaptive control proposed in [Xu et al.,1992] requires perfect attitude control and the adaptive control in [Gu & Xu, 1993] isdeveloped based on an under-actuated system on the assumption that the acceleration of thebase-satellite is measurable.In this chapter, we propose an adaptive control for a fully free-floating space...
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Frontiers in Adaptive Control..Frontiers in Adaptive Control