High precision trajectory tracking control for a kind of novel cable-driven space manipulator

High precision trajectory tracking control is critical for achieving long-distance operations for cable-driven space manipulators. However, due to the uncertainty and deformation of long-distance transmission cables, the existing cable-driven space manipulator trajectory tracking control method cannot meet the requirements of high precision and strong robustness in actual engineering. In this paper, the high precision trajectory tracking control problem of a kind of novel cable-driven large-scale space manipulator is studied. First, the kinematics and dynamics of the cable-driven space manipulator are established using the principle of virtual work. Based on the fully actuated system control idea, a trajectory tracking control scheme is designed for the cable-driven space manipulator. The asymptotic stability of the resulting closed-loop system is proved using Lyapunov stability theory. The simulation results show that the proposed control scheme can effectively overcome the influence of interference and achieve high precision trajectory tracking control of the cable-driven space manipulator.