Adaptive-Control of Controlled Floating Space Robots Based on Fully-Actuated System Theory

As human exploration of extraterrestrial space deepens, traditional space robots face challenges in effectively completing missions due to a growing demand for on-orbit service and several realistic factors. Consequently, controlled floating space robot has become a more significant research subject. However, its complex dynamic characteristics make current control techniques difficult to directly apply for adaptive-control. Consider that the contraction theory has promising performance in complex system control, this paper addresses the complex dynamic model of controlled floating space robots and combines the theory of parameter system reconstruction in fully-actuated systems with contraction theory to design efficient adaptive controller, in order to mitigate the impact of space perturbations and input constraints. This paper provides new perspectives for adaptive-control in the domain of space robotics.