Robust and adaptive composite control ofspace manipulator system with uncertain parameters
参数不确定空间机械臂系统的鲁棒自适应混合控制

The control problem of free_floating space manipulator system was discussed,and the kinematics and dynamics of the system were analyzed.It is shown that the Jacobi matrix and the dynamic equations of the system are nonlinearly dependent on inertial parameters.By use of the idea of augmentation approach,it is verified that the augmented generalized Jacobi matrix and the dynamic equations of the system can be linearly dependent on a group of inertial parameters. Based on the results,the robust and adaptive composite control scheme for free_floating space manipulator system with uncertain inertial parameters to track the desired trajectory in inertia space was proposed,and a two_link planar space manipulator system was simulated to verify the proposed control scheme.