%0 Journal Article
%T ROBUST COMPOSITE ADAPTIVE CONTROL FOR SPACE MANIPULATORS<br>空间机械臂的鲁棒复合自适应控制
%A WANG Jing
%A WANG Hao-Ying
%A LIU Liang-Dong
%A LIANG Bin
%A <br>王景
%A 王昊瀛
%A 刘良栋
%A 梁斌
%J 自动化学报
%D 2002
%I 
%X For space manipulators with an attitude-controlled base and with parametric and nonparametric uncertainties, this paper develops a prediction model for the system, and presents a robust composite adaptive control algorithm in which the parameters are driven by both tracking errors and prediction errors. Results on globally asymptotic stability and quick tracking convergence are established and confirmed by simulation.
%K Space manipulator
%K robust composite adaptive control<br>空间机械臂
%K 鲁棒复合自适应控制
%K 空间机器人
%K 动力学结构
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=6A9EAD1B3A0A6EDC&yid=C3ACC247184A22C1&vid=D3E34374A0D77D7F&iid=38B194292C032A66&sid=73648F51F187AC5E&eid=05340B75C67FF664&journal_id=0254-4156&journal_name=自动化学报&referenced_num=4&reference_num=12