Adaptive control based on neural network for uncertain space robot

摘要

An adaptive PID control method based on RBF neural network for the free-floating dual-arm space robot's uncertain system model is proposed in this paper. Bring about the precise control of joints and carrier by the design of the control algorithm for space robot. Compared to traditional control method, its adaptive ability is stronger and requirement for the linearization of dynamic equation's inertial parameters is weak. We put it compared to the adaptive PID control method which is a traditional control methods .Having simulation in the case of luffing, frequency conversion and posture intrusive. The results of experimental demonstrate the feasibility and practicability of this method.