Attitude adaptive control of space systems

摘要

Attitude adaptive control of a space robot system with an attitude controlled base on which the robot is attached is discussed. Firstly, the system kinematic and dynamic equations based on Lagrangian dynamics and linear momentum conservation law are derived. Then we propose an adaptive control scheme in joint space which has been shown effective and feasible for the cases where unknown or unmodeled dynamics must be considered, such as in the task of transport an unknown payload, or catching a moving object. We approach the problem by making use of the proposed joint space adaptive controller and updating joint trajectory by the estimated dynamic parameters and given trajectory in inertia space. In the case study of a planar system, the linear parameterization problem is investigated; the design procedure of the controller is illustrated, and simulation results are presented to demonstrate the validity and effectiveness of the proposed control scheme.