Adaptive control of space robot system with an attitude controlled base

The paper investigates the adaptive control of the space robot system with an attitude controlled base on which the robot is attached. We discuss the issues associated with adaptive control in inertial space and identify two potential problems: unavailability of joint trajectory, and nonlinear parameterization of system dynamics in inertial space. Two adaptive control schemes, corresponding to availability and unavailability of joint acceleration measurement, are proposed inspired by the fact that the dynamics in joint space and the kinematics can both be linearly parameterized. The proposed adaptive schemes guarantee the zero end-effector position tracking error, and the zero end-effector velocity tracking error is also guaranteed when the joint acceleration measurement is available. The validity and effectiveness of the proposed control schemes are demonstrated by the simulation of two-link planar space manipulator system