Adaptive Robust Control of Space Robot in Task Space

  title={Adaptive Robust Control of Space Robot in Task Space},
  author={Baomin Feng and Guangcheng Ma and Qiyong Wen and Changhong Wang},
  journal={2006 International Conference on Mechatronics and Automation},
This paper discuses the tracking control problem of free-floating space robot in Cartesian space. Based on the augmentation dynamic equation, a robust controller is proposed considering the model uncertainties and external disturbances, using Lyapunov direct method and dissipative theory, it is proved that the proposed controller can ensure the L2 gain from disturbance to tracking error is lower than the given index gamma. Simulation results show that the control method is valid