Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance

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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...

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Bibliographic Details
Main Authors:	Jiang, C., Teo, Kok Lay, Xu, Honglei, Caccetta, Louis, Duan, G.
Format:	Journal Article
Published:	Elsevier Science BV 2015
Online Access:	http://hdl.handle.net/20.500.11937/61328

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