ROBUST AND ADAPTIVE COMPOSITE CONTROL OF SPACE MANIPULATOR SYSTEM WITH BOUNDED TORQUE INPUTS

The intelligent control problem of a free-floating space manipulator system with bounded torque inputs and uncertain parameters is discussed. The kinematics and dynamics of the system are analyzed by use of momentum conservation. With the idea of an augmentation approach, the dynamic equations can be linearly dependent on a group of inertial parameters. Base on the results, a robust and adaptive composite control scheme for a free-floating space robot system with bounded torque inputs and uncertain parameters is developed. The proposed control scheme can effectively limit the input torques using the continuous differentiable increasing functions, and overcome the uncertain influence on control accuracy using robust and adaptive adjustment. Moreover, the control scheme can guarantee the stability of the system, regardless of whether the parameter-region is precise or not. That reflects the stronger robustness. The simulation results show the efficiency of the control scheme.