End-Effector Trajectory Tracking Control of Space Robot with<mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mrow><mml:msub><mml:mrow><mml:mi mathvariant="script">L</mml:mi></mml:mrow><mml:mrow><mml:mn>2</mml:mn></mml:mrow></mml:msub></mml:mrow></mml:math>Gain Performance

摘要

This paper presents a novel solution to the control problem of end-effector robust trajectory tracking for space robot. External disturbance and system uncertainties are addressed. For the considered robot operating in free-floating mode, a Chebyshev neural network is introduced to estimate system uncertainties and external disturbances. An adaptive controller is then proposed. The closed-loop system is guaranteed to be ultimately uniformly bounded. The key feature of this proposed approach is that, by choosing appropriate control gains, it can achieve any given small level of<mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M2"><mml:mrow><mml:msub><mml:mrow><mml:mi mathvariant="script">L</mml:mi></mml:mrow><mml:mrow><mml:mn>2</mml:mn></mml:mrow></mml:msub></mml:mrow></mml:math>gain disturbance attenuation from external disturbance to system output. The tracking performance is evaluated through a numerical example.