Robust Adaptive Control of a Free-Floating Space Robot System in Cartesian Space. (6th November 2015)

• Record Type: Journal Article
• Authors: Zhang, Fuhai; Fu, Yili; Qu, Jiadi; Wang, Shuguo
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 11(2015)
• Publication Date: 2015-11-06
• Subjects: Free-floating Space Robot -- Cartesian Space -- Robust Adaptive Control -- Parametric Uncertainty -- Non-parametric Uncertainty; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/61743
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper presents a novel, robust, adaptive trajectory-tracking control scheme for the free-floating space robot system in Cartesian space. The dynamic equation of the free-floating space robot system in Cartesian space is derived from the augmented variable method. The proposed basic robust adaptive controller is able to deal with parametric and non-parametric uncertainties simultaneously. Another advantage of the control scheme is that the known and unknown external disturbance bounds can be considered using a modification of the parameter-estimation law. In addition, three cases are certified to achieve robustness for both parametric uncertainties and external disturbances. The simulation results show that the control scheme can ensure stable tracking of the desired trajectory of the end-effector.