A backstepping robust control method for free-floating space robot system with dual-arms

摘要

In this paper, a backstepping robust control method for free-floating space robot system with dual-arms is proposed. Base on the analysis of the kinematics and dynamics, with the backstepping method, the Lyapunov function for robust control is designed. Considering the system uncertainties of the system, a robust GCMAC (Gauss Basis Function Cerebellar Model Articulation Controller) is built to consummate the controller. Simulation proves the validity of the proposed controller.