Robust task-space tracking for free-floating space manipulators by cerebellar model articulation controller

摘要

Purpose The purpose of this paper is to solve the tracking problem for free-floating space manipulators (FFSMs) in task space with parameter uncertainties and external disturbance. Design/methodology/approach In this paper, the novel cerebellar model articulation controller (CMAC) is designed with the feedback controller. More precisely, the parameter uncertainties in the FFSM are considered for achieving the robustness. Findings By using the dynamically equivalent model, the CMAC can be designed and trained with the desired performance, such that the prescribed trajectory can be followed accordingly. The simulation results are presented for illustrating the validity of the derived results. Originality/value Based on the designed CMAC, the tracking error would be approaching zero by choosing appropriate quantization level in CMAC and the corresponding learning rules can be tuned online.