Trajectory-tracking control for free-floating flexible space robots with bounded inputs
输入有界的自由漂浮柔性空间机器人轨迹跟踪控制

This paper is concerned with the trajectory-tracking of free-floating flexible space robots.By means of Lagrange’s equations and the mode-assumption method,the dynamical equations of the space robot are derived and analyzed.These equations are transformed into a fully controllable form with the flexible vibration disturbance based on the characteristics of the underactuated dynamical control and the flexible vibration.In considering the physical limitations of the actuator,we develop a robust control approach with adaptive state feedback to reduce the uncertain dynamic disturbance.A complete analysis on the stability and the performance are performed by using Lyapunov theory.Simulation results of the application to a two-link free-floating flexible space robot show the feasibility of the proposed controller.