Adaptive control of dual-arm space manipulator capturing object

Based on the concept of reaction null-space, a new distributed momentum control is proposed. The new scheme guarantees the stability of carrier attitude and the convergent property of end-effector tracking error during space manipulator capturing object. When the dynamic parameters contain errors or changes caused by the payload, according to online parameter identification an adaptive scheme is developed to avoid the effect of parameters errors on the carrier attitude, achieve trajectory tracking of the end-effector, and then accommodate various non-modeled disturbances simultaneously. Finally, simulation result confirms the effectiveness of the algorithm.