Design of Intelligent Controller for Space Robot

摘要

Due to the model uncertainties and impossibility of linear parameterization of its dynamics,the control of free-floating space robot based on mathematic model is difficult.In this paper,a robust fuzzy neural network(FNN) controller was proposed to deal with the problem.The FNN controller was designed to approximate an ideal controller,and the effect of approximation error was estimated and attenuated by a robust controller.A novel learning method established using Lyapunov function assured the stability of the system.Simulation results of a two-link planar free-floating space robot verify the validity of the proposed robust FNN controller in the presence of uncertainties.