Parameters concurrent learning and reactionless control in post-capture of unknown targets by space manipulators

摘要

This paper studies parameters identification and minimizing base disturbances problems after the space manipulator capturing an unknown target. A concurrent learning algorithm that concurrently uses past motion data points and instantaneous motion data of the system is proposed for the parameters identification. Given a condition for selecting the used past data points as well as a scaling technique to make the parameters have the same magnitude, the concurrent learning algorithm guarantees that parameters identification errors can globally converge to zero at an exponential rate and without the need for satisfying the persistent excitation (PE) condition. An adaptive reactionless control method is proposed based on the passivity theorem and Task-priority method, which ensures that the base attitude is stationary and joint motions satisfy the limits during the system generating excitation motions for the parameters identification. Simulation results verify the effectiveness of the proposed method.