Lyapunov Controller for Cooperative Space Manipulators
نویسندگان
چکیده
منابع مشابه
Lyapunov Controller for Cooperative Space Manipulators
The cooperativecontrol ofmultiplemanipulatorsattached to the samebase as they reposition a commonpayload is discussed. The theory is easily applied to inertiallybased problems, as well as space-based free- oatingplatforms. The system equations of motion are developed, as well as a Lyapunov-based controller that ensures stability. The closed chain aspect of the problem reduces the system’s degr...
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ژورنال
عنوان ژورنال: Journal of Guidance, Control, and Dynamics
سال: 1998
ISSN: 0731-5090,1533-3884
DOI: 10.2514/2.4261