Robust Trajectory Tracking Control of Space Manipulators in Extended Task Space

This study provides a new class of controllers for freeflying space manipulators subject to unknown undesirable disturbing forces exerted on the end-effector. Based suitably defined taskspace non-singular terminal sliding manifold and Lyapunov stability theory, we derive estimated extended transposed Jacobian which seem be effective in counteracting unstructured forces. The numerical computations are carried out manipulator consisting spacecraft propelled by eight thrusters holonomic three revolute kinematic pairs, illustrate performance proposed controller.