Robust and Adaptive Control of Free-floating Dual-arm Space Robot System with Bounded Torque Inputs and Uncertain Parameters

摘要

The control problem of free-floating dual-arm space robot 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 augmentation approach, the dynamic equations can be linearly dependent on a group of inertial parameters.And the robust and adaptive composite control scheme for free-floating dual-arm space robot system with bounded torque inputs and uncertain inertial parameters is developed based on the above results. The proposed control method can guarantee the control accuracy and the stability of the system, regardless of whether the parameter-region is precise, limit the amplitude of the torque inputs in a small range.It reflects the better robustness. The simulation results show the feasibility and efficiency of the control method.