An adaptive control scheme is proposed for tracking a 12.6 × 12.6 m square trajectory by the endpoint of a two-link rigid joint space robot. The adaptive controller is based on the classical Transpose Jacobian control law where the controller gains are adapted using a modified version of the Simple Adaptive Control (SAC) adaptation law. The formal Lyapunov proof of stability for the adaptive control system is derived. Simulation results show that the proposed adaptive control methodology is a promising concept when applied to space robots and yields improved tracking results compared to a nonadaptive control strategy.

2010 American Control Conference, ACC 2010
Department of Mechanical and Aerospace Engineering

Ulrich, S, & Sasiadek, J. (2010). Modified Simple Adaptive Control for a two-link space robot. Presented at the 2010 American Control Conference, ACC 2010.