Base attitude stabilization of space robot with guaranteed prescribed performance

This paper investigates the issue of base attitude regulation of space robot with guaranteed prescribed performance. Due to the dynamic coupling effect between the space manipulator and the base, the operation of space manipulator induces reaction toques to the base which cannot be ignored. A robust prescribed performance control scheme is introduced to solve this problem. Transient and steady performance of the controller is guaranteed by a user-defined function. Moreover, information about dynamic parameters and disturbance is unnecessary in the developed scheme. Simulation results are presented for base attitude regulation of 7 degree-of-freedom manipulator mounted on a spacecraft and demonstrate the effectiveness of the proposed method.