A normal form augmentation approach to adaptive control of space robot systems (Q1905814)

An extended robot model which describes the dynamics of a space robot system when the base is free-floating is presented. The extended robot model consists of a pseudo-arm representing the base motion and a real robot arm. Based on the model presented, the system is categorized as an under-actuated mechanism and the properties of the inertial matrix and Jacobian matrix are discussed. The model is of significance in analysis of any under-actuated dynamic system no matter whether the passive joints are real or hypothetic. Through input-output linearization of the model, a non-trivial internal dynamics is described and an adaptive control scheme based on a normal form augmentation approach is proposed. This approach overcomes two fundamental difficulties in adaptive control design of robot space systems, i.e., nonlinear parametrization of the dynamic equation and uncertainty of kinematic mapping from Cartesian space to joint space. A corresponding simulation is shown.