Adaptive Attitude Control with Lyapunov Stability of Nonholonomic Space Robot under the Unstructured Dynamics

Abstract

This research is concerned with shape and attitude control of nonholonomic space robot. An integrator backstepping method with neural network is applied to the kinematics control of 2-dimensional free-flying space robot to expand it into dynamics control. The stability of control method is guaranteed by Lyapunov theory, even if there are some unstructured dynamics and/or unmodeled bounded disturbance. Therefore the controller does not have to know about the strict dynamical parameters of the robot. The effectiveness of proposed controller is confirmed through numerical simulations.