Adaptive-robust control for free-flying space robots using norm-bounded property of uncertainty

This paper proposes an adaptive robust control scheme for free-flying space robots. In order to simply and effectively control free-flying space robots subject t o parameter uncertainty and disturbances, to avoid the measurement of the base(space vehicle) acceleration, and t o eliminate the assumption that the uncertainty bounds must be a priori known in the conventional robust control approach, we develop a continuous adaptive robust control scheme using the normbounded property of uncertainty based on the Lyapunov direct method. Simulation results are presented to show the feasibility and robustness of the proposed control scheme.