Adaptive-robust control for free-flying space robots using norm-bounded property of uncertainty

This paper proposes an adaptive robust control scheme for free-flying space robots. In order to simply and effectively control free-flying space robots subject to parameter uncertainty and disturbances to avoid the measurement of the base (space vehicle) acceleration, and to eliminate the assumption that the uncertainty bounds must be a priori known in the conventional robust control approach, we develop a continuous adaptive robust control scheme using the norm-bounded property of uncertainty based on the Lyapunov direct method. Simulation results are presented to show the feasibility and robustness of the proposed control scheme.