ROBUST COMPOSITE ADAPTIVE CONTROL FOR SPACE MANIPULATORS
空间机械臂的鲁棒复合自适应控制

For space manipulators with an attitude-controlled base and with parametric and nonparametric uncertainties, this paper develops a prediction model for the system, and presents a robust composite adaptive control algorithm in which the parameters are driven by both tracking errors and prediction errors. Results on globally asymptotic stability and quick tracking convergence are established and confirmed by simulation.