The Robust NN Control and Fast Vibration Suppression of Space Flexible Manipulator with Unknown Parameters

Abstract

To solve the problem of space flexible manipulator to track the desired trajectory, the robust control is proposed using a NN function to approach the comprehensive modeling errors. The adaptive feedback control for vibration suppression is designed of the system with unknown parameters. The adaptive laws are obtained by Lyapunov method without any prior knowledge about the bounds of unknown parameters. Finally, the numerical simulation is carried out, which proves the controller proposed is feasible and effective.