Adaptive Control of Mini Space Robot Based on Linear Separation of Inertial Parameters

Abstract

Space robots exhibit a strong dynamic coupling between the manipulator and the base spacecraft, with this phenomenon being particularly pronounced in mini space robots. The uncertainty surrounding the inertial parameters of space robots often renders dynamics-based controllers ineffective, and identifying these parameters in an on-orbit environment poses significant challenges. In this paper, we propose an adaptive controller for dynamic approximation that is specifically designed for mini space robots. This controller employs a linear separation of inertial parameters and utilizes recursive least-squares and Lyapunov methods to update the inertial parameter vectors. Simulation results validate the effectiveness of this adaptive controller in enabling mini space robots to accurately track predefined trajectories. Additionally, we compare the effects of the two parameter update methods on the controller stability under varying prior inertial parameter errors. The proposed inertial parameter separation adaptive controller significantly approximates the dynamics of mini space robots and facilitates precise on-orbit control, thereby offering considerable potential for advancing space exploration, satellite missions, and robotic operations.