Adaptive Control for Free-floating Space Flexible Robot Based on Fuzzy CMAC

Abstract

The tracking control problems of free-oating exible space robot are studied by the paper, an adaptive Fuzzy CMAC PID control method is proposed by this paper. Dynamics equation of free-oating exible space robot is established base on Lagrange principle, Controller based on Fuzzy CMAC is designed to used to adaptive learn and compensate inverse-model of exible space robot, learning rules of network parameters are designed to adaptive adjust on line. Error function is provided by PID controller. The controller can improved the control accuracy and the asymptotic convergence of tracking error. The simulation results show that the control method had important engineering value.