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The controller design of microgravity system on ground

This paper focuses on the controller design of microgravity system on ground for the captured target of the free-flying space robot. The kinematics analysis of the collided static target and kinetic target are done. In vertical direction, the constant tension method is brought forward. The track of the objectpsilas deflexion angle and displacement in polar coordinate is proposed so that the moving robot and target are put in the same plane. The models of electromotor are established. And the robust FCMAC is adopted in this nonlinear system with load disturbance. Simulation and experiment of this tested system shows that the robust FCMAC can improve the dynamic property and has robustness.