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Adaptive Neural Network Control of Free-Floating Space Manipulator System in Joint Space

In this paper, the adaptive neural network control of space manipulator system is discussed. Firstly, the dynamic equations of free-floating space manipulator system are derived through the Lagrangian formulation. Based on the above results, space manipulator system is modeled through the neural network technique. And then an adaptive neural network control scheme of space manipulator system with unknown parameters to track desired trajectories in joint space is developed. The proposed control scheme need neither linearly parameterize the dynamic equations of system, nor know any actual inertial parameters. In addition, it does not require the time-consuming training process offline and saves the time of neural network training. Lastly, a simulation study of a planar free-floating space manipulator system is presented. The simulation results show that the proposed control scheme is feasible and effective.