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Compensating learning control for free-floating space robot system using genetic algorithm

In this paper, the kinematics and dynamics of free-floating space robot system is analyzed. The closed-loop dynamic error equations considering uncertainties for the space robot is derived using a PD type computed torque method. By introducing a compensating item standing for system uncertainties, using real coded genetic algorithm to improving its eliminating precision, a new compensating learning control method using genetic algorithm is presented in company with its controller structure designed. Simulation results verify the efficiency of the control method.