Robust Adaptive Trajectory Tracking Control for Dual-Arm Space Robot with Pyramid-Type SGCMGs

Aiming at the trajectory tracking problem of dual-arm space robot with pyramid-type single gimbaled control moment gyroscopes (SGCMGs) as the base spacecraft actuator, a robust adaptive trajectory tracking controller is designed, to restrain the effects of the SGCMGs friction. The LuGre friction model describes the SGCMGs friction and projection-based adaptive laws are adopted to estimate the friction uncertainties, the bound of friction nonlinearity as well as the disturbances. The dual-arm space robot control system is ultimately proved to be globally uniformly ultimately bounded and stable via Lyapunov theory. The effectiveness of the controller is demonstrated via numerical simulations.