Reactionless control of free‐floating space manipulators with parameter uncertainty and input disturbance
Kai Gong,
Yingmin Jia,
Yuxin Jia
Abstract:This paper studies the control problem of free‐floating space manipulators, and a control scheme is proposed to solve reactionless control of the end‐effector pose tracking with parameter uncertainty and input disturbance. First, based on dual modeling to treat the end‐effector as a virtual base spacecraft, the dynamics with uncertainties are established which map the joints' torque to the end‐effector pose and base spacecraft attitude, while the inverse kinematics and the derivative of the generalized Jacobi … Show more
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