Nonlinear Adaptive Output Feedback Control of Flexible-Joint Space Manipulators with Joint Stiffness Uncertainties

摘要

Growing research interest in space robotic systems capable of accurately performing autonomous manipulation tasks within an acceptable execution tune has led to an increased demand for lightweight materials and mechanisms. As a result, joint flexibility effects become important and represent the main limitation to achieving satisfactory trajectory-tracking performance. This paper addresses the nonlinear adaptive output feedback control problem for flexible-joint space manipulators. Composite control schemes in which decentralized simple adaptive control-based adaptation mechanisms to control the quasi-steady-state robot model are added to a linear correction term to stabilize the boundary-layer model are proposed. An almost strictly passivity-based approach is adopted to guarantee closed-loop stability of the quasi-steady-state model. Simulation results are included to highlight the performance and robustness of the proposed adaptive composite control methodologies to parametric and dynamics modeling uncertainties.