Adaptive optimal tracking control for multi‐joint manipulator on space robot

摘要

Summary This paper aims to address the tracking control problem for the multi‐joint manipulator on a space robot subject to model uncertainties and external disturbances. A Gauss‐Newton interactive optimization algorithm is used to obtain the desired joint angle for each joint. In order to formulate the optimization problem, the Denaait‐Hartenberg (D‐H) method is employed to describe the model of the multi‐joint manipulator. Subsequently, an adaptive controller is developed to achieve tracking control, where controller parameters updated in real time are introduced to handle the nondeterminacy of the multi‐joint manipulator. Moreover, a fuzzy control strategy is composed such that our designed controller is robust against the complex environment as well. The controller design is performed by means of the Lyapunov techniques. Meanwhile, its effectiveness is verified through numerical simulations. Finally, some concluding remarks close the paper.