Task-space Tracking Control for Dual-arm Free-floating Space Manipulators with Disturbances and Uncertainties

This paper investigates task-space tracking control for dual-arm free-floating space manipulators (DFFSM) subject to unknown disturbances, kinematic and dynamic uncertainties.First, we design a sliding mode disturbance observer to compensate for the lumped disturbances, including unknown disturbances and dynamic uncertainties.Then, an adaptive dynamic surface controller (ADSC) is proposed for DFFSM system, where the uncertain kinematics is estimated by an adaptive algorithm.It is validated through Lyapunov analysis that the tracking errors of the end-effectors are uniformly ultimately bounded under the proposed control scheme.Numerical simulations validate the effectiveness of the proposed control scheme.