Experimental investigation on adaptive robust controller designs applied to a free-floating space manipulator

This paper aims to formulate and investigate the application of various nonlinear H∞H∞ control methods to a free-floating space manipulator subject to parametric uncertainties and external disturbances. From a tutorial perspective, a model-based approach and adaptive procedures based on linear parametrization, neural networks and fuzzy systems are covered by this work. A comparative study is conducted based on experimental implementations performed with an actual underactuated fixed-base planar manipulator which is, following the DEM concept, dynamically equivalent to a free-floating space manipulator.

Research highlights
► Development of nonlinear H∞H∞ control methods to free-floating space manipulators.
► Adaptive approaches based on neural networks and fuzzy systems are covered.
► Experimental implementations on a dynamically equivalent fixed-base manipulator.
► Comparative study based on experimental results and performance indexes.