Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance
This paper presents a tracking control with guaranteed prescribed performance (PP) for space free-flying robots with uncertain kinematics (Jacobian matrix) and dynamics, uncertain normal force parameter, and bounded disturbances in a compliant contact with a planar surface. Given the orientation of...
| Main Authors: | , , , , |
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| Format: | Journal Article |
| Published: |
Elsevier Science BV
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/61328 |