Passivity based Lyapunov stabilization control for free-floating space manipulator system

This paper deals with the stabilization problem of the free-floating space manipulator system. Using the underactuated property and the conservation of angular momentum, a stabilization controller based on passivity concept is designed for this system. Associated proof shows that global stability of the angles of the manipulator joints is guaranteed. Moreover, for any kind of underactuated mechanism system, if the conservations of angular momentum property are satisfied, this kind of control strategy can be implemented to stabilize the actuated degree of freedom, which shows practical merit of the approach. Finally, numerical simulation of a simplified free-floating space robot system is conducted to prove the feasibility and effectiveness of the proposed control strategy.