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.
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