THE ROBUST CONTROL SCHEME FOR FREE-FLOATING SPACE MANIPULATOR TO TRACK THE DESIRED TRAJECTORY IN JOINTSPACE

The control of a free-floating space manipulator system is discussed.With the augmentationapproach,the nonlinear parameterization problem of the dynamic equations of the space manipulator systemis overcome.Based on the results,the robust control scheme for free-floating space manipulator with uncer-tain payload parameters to track the desired trajectory in jointspace is proposed,and the global convergenceof the tracking is verified by using the Lyapunov method.The prolapsed control scheme is computationallysimple,because we choose to make the controller robust to the uncertain inertial parameters rather than ex-plicitly estimate them online.In particular,it needn’t control the position and attitude of the floating base.Atwo-link planar space manipulator system is simulated to verify the control scheme proposed.