A Study on the Robust Adaptive Control for a Free-Flying Space Robot System

A Study on the Robust Adaptive Control for a Free-Flying Space Robot System

This paper proposes a robust adaptive control scheme for a free-flying space robot system. In order to simply and effectively control free-flying space robots subject to parameter uncertainty and disturbances, to avoid the measurement of the base(space vehicle) acceleration; and to eliminate tile assumption that the uncertainty bounds must be a priori known in the conventional robust control approach, we develop a continuous robust adaptive control scheme using the norm-bounded property of uncertainty based on the Lyapunov direct method. Simulation results are presented to show the feasibility and robustness of the proposed control scheme.