Asymptotic Tracking Control with Prescribed Performance of Free-Flying Space Manipulator Under Actuator Saturation

The trajectory tracking control problem of the free-flying space manipulator considering parameter uncertainty, external disturbance under actuator saturation constraint with prescribed performance is studied in this paper. In order to cope with the specified performance, a modified appointed-time performance function for error transformation is introduced. Based on the robust integral of the sign of error (RISE) feedback control method, we designed a PPF-RISE-Saturation controller, which can simultaneously guarantee the prescribed tracking performance and closed-loop asymptotic stability. Finally, the effectiveness of the proposed controller is validated through comparative numerical simulation.