Robust Anti-Disturbance Coordination Control for Space Manipulator Systems with Multiple Disturbances

Abstract

This paper is concerned with the coordination tracking control for space manipulator system with internal model uncertainties and external environment disturbances. A novel robust anti -disturbance coordination control scheme is proposed to realize feed-forward control of the base satellite attitude and precise trajectory tracking of the manipulator. The composite controller is composed of disturbance observer based controller (DOBC), $H_{\infty}$ feedback controller and computed-momentum based reaction compensation (CMRC) controller; where the DOBC estimate and compensate the external disturbances, the $H_{\infty}$ feedback controller attenuate the internal model uncertainties, then the computed-momentum based reaction compensation (CMRC) controller is designed as a feed-forward coordination controller to actively anticipate the manipulator reaction and compensate for it in advance. Numerical simulations are performed on a two-link free-flying space manipulator system to demonstrate the effectiveness and validity of the proposed control scheme.