ROBUST-ADAPTIVE COMBINED CONTROL FOR DUAL-ARM SPACE ROBOT WITH EXTERNAL DISTURBANCES AND UNCERTAIN PARAMETERS

The control problem of free-floating space robot system with dual-arm is studied. The dynamic equations of the system are formulated by the under-actuated form to guarantee that they can be linearly parameterized. With the augmentation approach, the dynamics of the system is analyzed and the augmented generalized Jacobi matrix of the system can also be linearly dependent on a group of inertial parameters. Based on the results, a robust-adaptive combined control scheme is developed for dual-arm space robot system with external disturbances and uncertain payload parameters to track the desired trajectories in inertial space. Comparing with the adaptive control, the control scheme proposed can effectively reduce the calculation time, because it can transfer many integral operations into four arithmetic operations. Therefore, it is suitable for real-time and on-line applications in space-based robot system. The simulation results verify the proposed control scheme.