An exponentially convergent adaptive robust based space manipulator noise control method

Because most of the traditional nonlinear control methods are model-based control methods, it will dramatically increase the parameter identification burden of multi-rigid-body system dynamic model. Meanwhile, Unmodeled dynamics, parameter drift, model uncertainty, complex motor hysteresis characteristics, etc are unfortunately in the practical systems, which makes it very hard to accurately build the noise model and identify the model parameters. Among them, the accurate values of the viscous friction coefficient, elastic friction coefficient, the distance between the centroid and the rotation center of the connecting rod, the inertial moment and products of each joint, these exact values can hardly be obtained. In this paper, direct adaptive control and the robust model reference adaptive control based on Lyapunov direct method are adopted, which can make the noise error close to zero under the condition of parameter uncertainty and unknown nonlinear friction characteristics.