Fuzzy disturbance-observer based control of electrically driven free-floating space manipulator

Abstract

This paper is concerned with the robust tracking control of an electrically driven free-floating space manipulator with internal parameter uncertainty and external disturbance, a fuzzy disturbance-observer based output feedback control are employed to provide the solution to the control problem. Wherein, the parameters are tuned online by using fuzzy logic systems to compensate equivalent disturbance, and the stability condition of the closed-loop system is also derived.The suggested method does not require exact prior knowledge of the system and less parameters to tune. Simulation results from a two-link electrically driven space manipulator show the effectiveness and applicability of the proposed control scheme. © 2011 Springer-Verlag.