Adaptive robust control for the space application of manipulator aligned on ground
地面装调的空间机械臂在空间应用时的自适应鲁棒控制

The gravity acceleration for a space robot in in-orbit operation is different from that in the alignment phase on the ground and subject to change with spatial location. We propose an adaptive robust strategy for the end control of a space robot working in-orbit in the space under microgravity environment, but had the manipulator adjusted on the ground under gravity environment. After analyzing the impact of gravity on trajectory-tracking of the space manipulator, we design an adaptive strategy to estimate the gravity acceleration online, from which we determine the values of related terms. The uncertainty can be compensated by a robust controller. By using the Lyapunov theory, we prove that this control scheme guarantees the stability of the closed-loop system and the asymptotic convergence of tracking errors. Simulation results show that the controller is effective in trajectory-tracking with desired accuracy for the space manipulator to work in the microgravity environment in the space, while had been aligned in the gravity environment. This demonstrates the important value of this strategy in engineering applications.