Robust Control of Coordinated Motion of Space-Based Robot System

In this paper, the coordinated control of the base’s attitude and its arms of space-based robot system is studied. With the momentum conservation of system, the kinematics and dynamics of system are analyzed. It is shown that the generalized Jacobi matrix and dynamic equations of the system can be linearly dependent on a group of inertial parameters. Based on the results proposed above, first a robust control scheme of coordinated motion in joint space is developed, then, a robust and adaptive composite control scheme of coordinated motion for both the base’s attitude and its arms to track the desired trajectory in inertia space is proposed. Both control schemes proposed above possess the advantages that needs no measuring the position, velocity and acceleration of the base with respect to the orbit, because of an effective exploitation of the particular property of the system dynamics. The first control scheme needs estimating less unknown parameters and possess stronger convergence as compared with the second control scheme. Therefore, it is suggested that the motion planning in joint space possess priority as the tasks of space-based robot system are specified. To show the feasibility of both control schemes proposed above, two simulation studies are present.