AUGMENTED ADAPTIVE CONTROL OF FREE-FLOATING DUAL-ARM SPACE ROBOT SYSTEM IN INERTIAL SPACE

The adaptive control scheme of free-floating space robot system with dual-arms is studied. Because of the linear and angular momentum conservation of the system, the dynamic equations of the system cannot be linearly parameterized. In order to overcome the difficulty, the dynamic equations of the system are formulated by the under-actuated form, and with the augmentation approach, an adaptive control scheme is developed for dual-arm space robot system with unknown payload parameters to track the desired trajectories in inertial space. A simulation of a planar free-floating space robot system with dual-arms is presented. The simulation results show that the proposed control scheme is feasible and effective.