Inertial space tracking for free-floating space robot manipulator using RBF-NN based compensating control algorithm

摘要

In this paper, the kinematics and dynamics of free-floating space robot manipulator are analyzed. With the system uncertainties consideration, the closed-loop dynamic error equation for the space robot manipulator is derived by computed torque method. Attaching an evolutionary learning affixation to the error equation standing for the system uncertainties, a RBF-NN based learning compensating control algorithm is proposed to realize tracking in the initial space as well as its controller structure design. Simulation results show the efficiency of the control method.