Adaptive Control of Spacecraft-Referenced End-Point Motion of Space-Based Robot System

In this paper, the control problem of space-based robot system whose base was not controlled was studied. According to the momentum conservation principle, we obtained the dynamic equations of the system which is linearly dependent on a group of inertial parameters. Based on the above results and with the augmentation approach, the adaptive control scheme of spacecraft-referenced end-point motion of space-based robot system was developed. The advantage of this control scheme is that no measurement of the position, velocity and acceleration of the base is needed. A two-link planar space-based robot system was simulated to verify the proposed control scheme.