Adaptive Zero Reaction Motion Control for Free-Floating Space Manipulators

TL;DR

This paper develops an adaptive zero reaction motion control scheme for free-floating space manipulators with uncertain kinematics and dynamics, enabling precise attitude regulation and trajectory tracking.

Contribution

It derives a linear expression for adaptive RNS control, facilitating the development of an adaptive velocity-level controller for uncertain space manipulators.

Findings

Controller achieves spacecraft attitude regulation.

Enables end-effector trajectory tracking.

Validated through numerical simulations.

Abstract

This paper investigates adaptive zero reaction motion control for free-floating space manipulators with uncertain kinematics and dynamics. The challenge in deriving the adaptive reaction null-space (RNS) based control scheme is that it is difficult to obtain a linear expression, which is the basis of the adaptive control. The main contribution of this paper is that we skillfully obtain such a linear expression, based on which, an adaptive version of the RNS-based controller (referred to as the adaptive zero reaction motion controller in the sequel) is developed at the velocity level, taking into account both the kinematic and dynamic uncertainties. It is shown that the proposed controller achieves both the spacecraft attitude regulation and end-effector trajectory tracking. The performance of the proposed adaptive controller is shown by numerical simulations with a planar 3-DOF (degree-of-freedom) space manipulator.