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This research introduces an innovative robust tracking control framework addressing the trajectory coordination problem of space manipulators with unmodeled dynamics and parametric variations. The methodology unifies two core contributions: Dynamic-consistent reference acceleration architecture ensuring kinematic compatibility between the spacecraft base and manipulator links; Time-Delayed Estimation compensator actively attenuating lumped uncertainties without requiring prior disturbance modeling. Through rigorous Lyapunov-based stability analysis, the proposed control law is formally proven to achieve: Simultaneous asymptotic tracking of spacecraft attitude and manipulator joint trajectories, moreover appointed time convergence with user-predefined performance boundaries for joint tracking errors, guaranteeing both transient overshoot limitation and steady-state accuracy. Numerical simulations validate the framework’s efficacy in achieving precision control of coupled space manipulator systems.

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Coordinated Control for Space Manipulators with Predefined Performance Based on Time Delay Estimation

  • 会议论文

  • 发表日期：

    2026年

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  • Kai Gong,
  • Yang Deng,
  • Xudong Zheng,
  • Zhili Hou,
  • Ruixiang Zhu,
  • Bin Liang

摘要

This research introduces an innovative robust tracking control framework addressing the trajectory coordination problem of space manipulators with unmodeled dynamics and parametric variations. The methodology unifies two core contributions: Dynamic-consistent reference acceleration architecture ensuring kinematic compatibility between the spacecraft base and manipulator links; Time-Delayed Estimation compensator actively attenuating lumped uncertainties without requiring prior disturbance modeling. Through rigorous Lyapunov-based stability analysis, the proposed control law is formally proven to achieve: Simultaneous asymptotic tracking of spacecraft attitude and manipulator joint trajectories, moreover appointed time convergence with user-predefined performance boundaries for joint tracking errors, guaranteeing both transient overshoot limitation and steady-state accuracy. Numerical simulations validate the framework’s efficacy in achieving precision control of coupled space manipulator systems.