Optimal sample-data control for free-floating space robot with uncertain inertial parameters

In most cases, the tracking accuracy is an elementary requirement when designing the tracking controller of free-floating space robot. However, the resource consumption of the system input is also restricted in orbit, which should be also cared about in designing tracking controller. Thus, in this paper, an optimal sample-data control method for free-floating space robot is proposed by using the discrete state-dependent Riccati equation. And, in order to overcome the effect of uncertain inertial parameters, a two-stage controller designing strategy is adopted in this method, which includes the designs of an optimal reference controller and an optimal compensation controller. In addition, the supremum of the sampling interval is investigated via uniform input-to-state stability theories. Some numerical examples are provided to illustrate the performances of the proposed control method.