High-Precision Trajectory Tracking Control for Space Manipulator With Neutral Uncertainty and Deadzone Nonlinearity

Abstract

This brief investigates the high-precision trajectory tracking control of space manipulator after capturing an unknown target. The neutral uncertainty induced by parameter variation poses great challenges to the controller design. Moreover, the existence of actuator deadzone nonlinearity makes the situation more complicated. In order to address the aforementioned difficulties, a novel control scheme is proposed in this brief. First, to reduce the conservativeness in the descriptions of uncertainties, the dynamic of space manipulator is described by an uncertain system with neutral uncertainty, state-dependent uncertainty, and norm-bounded uncertainty for the first time. Then, by incorporating a novel deadzone compensation control effort, a composite controller is proposed to attenuate these uncertainties and compensate the deadzone nonlinearity. Finally, stability and robustness analyses are carried out, and simulation results are given to demonstrate the effectiveness of the proposed methods.