Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space
The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer t...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Wang, Xiaoyi [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2020transfer abstract |
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| Schlagwörter: |
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| Umfang: |
12 |
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| Übergeordnetes Werk: |
Enthalten in: Sa1204 Does Intravenous Toradol Lower the Risk for Post- Endoscopic Retrograde Cholangiopancreatography Pancreatitis? - Al-Hamid, Hussein ELSEVIER, 2016, journal of the International Academy of Astronautics, Amsterdam [u.a.] |
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| Übergeordnetes Werk: |
volume:176 ; year:2020 ; pages:99-110 ; extent:12 |
| Links: |
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| DOI / URN: |
10.1016/j.actaastro.2020.02.028 |
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ELV051869551 |
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| 245 | 1 | 0 | |a Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space |
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| 520 | |a The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. | ||
| 520 | |a The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. | ||
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| 773 | 0 | 8 | |i Enthalten in |n Elsevier Science |a Al-Hamid, Hussein ELSEVIER |t Sa1204 Does Intravenous Toradol Lower the Risk for Post- Endoscopic Retrograde Cholangiopancreatography Pancreatitis? |d 2016 |d journal of the International Academy of Astronautics |g Amsterdam [u.a.] |w (DE-627)ELV014615371 |
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10.1016/j.actaastro.2020.02.028 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001209.pica (DE-627)ELV051869551 (ELSEVIER)S0094-5765(20)30090-4 DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Wang, Xiaoyi verfasserin aut Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space 2020transfer abstract 12 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. Robust control Elsevier Nonlinear model predictive control Elsevier Coordinated control Elsevier Non-cooperative target Elsevier Free flying space robot Elsevier Shi, Lingling oth Katupitiya, Jayantha oth Enthalten in Elsevier Science Al-Hamid, Hussein ELSEVIER Sa1204 Does Intravenous Toradol Lower the Risk for Post- Endoscopic Retrograde Cholangiopancreatography Pancreatitis? 2016 journal of the International Academy of Astronautics Amsterdam [u.a.] (DE-627)ELV014615371 volume:176 year:2020 pages:99-110 extent:12 https://doi.org/10.1016/j.actaastro.2020.02.028 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_40 GBV_ILN_105 GBV_ILN_2021 51.00 Werkstoffkunde: Allgemeines VZ AR 176 2020 99-110 12 |
| spelling |
10.1016/j.actaastro.2020.02.028 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001209.pica (DE-627)ELV051869551 (ELSEVIER)S0094-5765(20)30090-4 DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Wang, Xiaoyi verfasserin aut Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space 2020transfer abstract 12 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. Robust control Elsevier Nonlinear model predictive control Elsevier Coordinated control Elsevier Non-cooperative target Elsevier Free flying space robot Elsevier Shi, Lingling oth Katupitiya, Jayantha oth Enthalten in Elsevier Science Al-Hamid, Hussein ELSEVIER Sa1204 Does Intravenous Toradol Lower the Risk for Post- Endoscopic Retrograde Cholangiopancreatography Pancreatitis? 2016 journal of the International Academy of Astronautics Amsterdam [u.a.] (DE-627)ELV014615371 volume:176 year:2020 pages:99-110 extent:12 https://doi.org/10.1016/j.actaastro.2020.02.028 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_40 GBV_ILN_105 GBV_ILN_2021 51.00 Werkstoffkunde: Allgemeines VZ AR 176 2020 99-110 12 |
| allfields_unstemmed |
10.1016/j.actaastro.2020.02.028 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001209.pica (DE-627)ELV051869551 (ELSEVIER)S0094-5765(20)30090-4 DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Wang, Xiaoyi verfasserin aut Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space 2020transfer abstract 12 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. Robust control Elsevier Nonlinear model predictive control Elsevier Coordinated control Elsevier Non-cooperative target Elsevier Free flying space robot Elsevier Shi, Lingling oth Katupitiya, Jayantha oth Enthalten in Elsevier Science Al-Hamid, Hussein ELSEVIER Sa1204 Does Intravenous Toradol Lower the Risk for Post- Endoscopic Retrograde Cholangiopancreatography Pancreatitis? 2016 journal of the International Academy of Astronautics Amsterdam [u.a.] (DE-627)ELV014615371 volume:176 year:2020 pages:99-110 extent:12 https://doi.org/10.1016/j.actaastro.2020.02.028 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_40 GBV_ILN_105 GBV_ILN_2021 51.00 Werkstoffkunde: Allgemeines VZ AR 176 2020 99-110 12 |
| allfieldsGer |
10.1016/j.actaastro.2020.02.028 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001209.pica (DE-627)ELV051869551 (ELSEVIER)S0094-5765(20)30090-4 DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Wang, Xiaoyi verfasserin aut Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space 2020transfer abstract 12 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. Robust control Elsevier Nonlinear model predictive control Elsevier Coordinated control Elsevier Non-cooperative target Elsevier Free flying space robot Elsevier Shi, Lingling oth Katupitiya, Jayantha oth Enthalten in Elsevier Science Al-Hamid, Hussein ELSEVIER Sa1204 Does Intravenous Toradol Lower the Risk for Post- Endoscopic Retrograde Cholangiopancreatography Pancreatitis? 2016 journal of the International Academy of Astronautics Amsterdam [u.a.] (DE-627)ELV014615371 volume:176 year:2020 pages:99-110 extent:12 https://doi.org/10.1016/j.actaastro.2020.02.028 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_40 GBV_ILN_105 GBV_ILN_2021 51.00 Werkstoffkunde: Allgemeines VZ AR 176 2020 99-110 12 |
| allfieldsSound |
10.1016/j.actaastro.2020.02.028 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001209.pica (DE-627)ELV051869551 (ELSEVIER)S0094-5765(20)30090-4 DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Wang, Xiaoyi verfasserin aut Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space 2020transfer abstract 12 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. Robust control Elsevier Nonlinear model predictive control Elsevier Coordinated control Elsevier Non-cooperative target Elsevier Free flying space robot Elsevier Shi, Lingling oth Katupitiya, Jayantha oth Enthalten in Elsevier Science Al-Hamid, Hussein ELSEVIER Sa1204 Does Intravenous Toradol Lower the Risk for Post- Endoscopic Retrograde Cholangiopancreatography Pancreatitis? 2016 journal of the International Academy of Astronautics Amsterdam [u.a.] (DE-627)ELV014615371 volume:176 year:2020 pages:99-110 extent:12 https://doi.org/10.1016/j.actaastro.2020.02.028 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_40 GBV_ILN_105 GBV_ILN_2021 51.00 Werkstoffkunde: Allgemeines VZ AR 176 2020 99-110 12 |
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Enthalten in Sa1204 Does Intravenous Toradol Lower the Risk for Post- Endoscopic Retrograde Cholangiopancreatography Pancreatitis? Amsterdam [u.a.] volume:176 year:2020 pages:99-110 extent:12 |
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Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space |
| abstract |
The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. |
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The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. |
| abstract_unstemmed |
The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties. |
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Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space |
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