HONG Zhao-bin, CHEN Li. Fuzzy Neural Network Self-learning Control of Free-Floating Dual-arm Space Robot System[J]. ROBOT, 2008, 30(5): 435-439.
Citation: HONG Zhao-bin, CHEN Li. Fuzzy Neural Network Self-learning Control of Free-Floating Dual-arm Space Robot System[J]. ROBOT, 2008, 30(5): 435-439.

Fuzzy Neural Network Self-learning Control of Free-Floating Dual-arm Space Robot System

  • Under the condition that the base position and attitude of the free-floating dual-arm space robot system are uncontrolled,the self-learning control problem based on fuzzy Gaussian function neural network is addressed.Since this space robot strictly abide by the rules of momentum conservation and angular momentum conservation,its dynamic equations exhibit a strong nonlinearity.When fuzzy control and neural network are combined,i.e.,the fuzzy inference is realized by neural network,the fuzzy control obtains its self-learning ability.Then the self-learning control scheme based on fuzzy Gaussian function neural network is designed for the dual-arm space robot system in joint space.Numerical simulation is carried out,and the effectiveness of the proposed method is validated.
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