F-5-3-1 The Combining Adaptation with Robustness Control of Coordinated Motion of Space Robot System

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In this paper, the control of coordinated motion of spacecraft's attitude and its end-effector of the space-based robot system whose spacecraft position was not controlled was discussed. The dynamics of the system was analyzed, and it is demonstrated that the augmented generalized Jacobi matrix and the dynamic equations of the system could be linearly dependent on inertial parameters. Based on the results, the combining adaptation with robustness control scheme of coordinated motion of spacecraft's attitude and the desired trajectory in workspace of its end-effector was proposed, and a two-link planar space-based robot system was simulated to verify the proposed control scheme. The advantages of the control scheme proposed are that it needn't to control the position, velocity and acceleration of the spacecraft, and is computationally simple, because we choose to make the controller robust to the uncertain inertial parameters rather than explicitly estimating them online.
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