空间机器人目标捕获的自适应零反作用控制

An adaptive reactionless control strategy is presented for free-floating space robots subject to parameter uncertainties and unknown bounded disturbances. Firstly，a novel fixed-time concurrent learning algorithm is proposed to relax the persistent excitation condition and make the convergence rates of parameter estimations independent of the excitation levels in regressor channels. As a result，the accurate estimations of inertia parameters with different magnitudes can be obtained at the same time. Then，a finite-time zero reaction control method with input disturbance compensation is proposed by designing a pedestal attitude controller and a manipulator trajectory tracking controller respectively，which can maintain the stability of the pedestal attitude while tracking the desired pose trajectory of the end of the manipulator. The simulation results demonstrate the effectiveness of the proposed control scheme.