Adaptive Robust Controller Designs Applied to Free-Floating Space Manipulators in Task Space (original) (raw)

This research addresses the development of adaptive robust controllers for free-floating space manipulators, focusing on trajectory tracking in task space despite uncertainties and external disturbances. Unique challenges arise from the non-unique kinematic mapping due to the manipulators' free-floating nature, necessitating the use of nonlinear H ∞ controllers and artificial neural networks to learn and compensate for dynamic behaviors. A comparative study results in enhanced control strategies validated through simulation results.