Adaptive Robust Control of Space Robot in Task Space

This paper discuses the tracking control problem of free-floating space robot in Cartesian space. Based on the augmentation dynamic equation, a robust controller is proposed considering the model uncertainties and external disturbances, using Lyapunov direct method and dissipative theory, it is proved that the proposed controller can ensure the L
₂
gain from disturbance to tracking error is lower than the given index gamma. Simulation results show that the control method is valid