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On the Recursive Adaptive Control for Free-floating Space Manipulators

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Abstract

This paper is devoted to investigating the recursive implementation schemes of adaptive control for free-floating space manipulators. Using spatial vector tool and some physical properties that free-floating space manipulators enjoy, we establish a general framework on the seeking of the centripetal and Coriolis matrix that satisfies the skew symmetry requirement. Under this general framework, we propose a recursive adaptive algorithm for free-floating manipulators, which is composed of two parts: the first part is the recursive derivation of the required manipulator control torques, and the second part is the recursive updating of the spacecraft reference velocity and acceleration. To guarantee the uniform positive definiteness of the estimated spacecraft inertia, we present a parameter projection algorithm to project the estimated parameters into some pre-specified parameter region. In the next, we extend the proposed recursive adaptive algorithm to task-space control of free-floating space manipulators. We examine the performance of the proposed recursive adaptive algorithms via numerical simulation on a six-DOF space manipulator.

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Authors and Affiliations

  1. Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, 100190, China

    Hanlei Wang & Yongchun Xie

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  1. Hanlei Wang
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  2. Yongchun Xie
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Correspondence to Hanlei Wang.

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This research is supported by the National Natural Science Foundation of China under grants 61004058 and 60804016.

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Wang, H., Xie, Y. On the Recursive Adaptive Control for Free-floating Space Manipulators. J Intell Robot Syst 66, 443–461 (2012). https://doi.org/10.1007/s10846-011-9632-y

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