Abstract: Trajectory tracking of a class of free-floating space manipulators with disturbance and model uncertainties are considered. Robust adaptive control scheme based on neural network is proposed. Ideal controller according to the Lyapunov stability theories is designed. Uncertainty model is derived. Neutral network is used to adaptive learn and compensate the unknown system, the estimate of conservative boundary is avoided. Linear parametric technology combining Lyapunov function is used to design the on-line real time adjust learning law including weights value and network parameters. The scheme accelerates the convergence velocity and control accuracy and eliminates high level to approach errors and perturbation. The controller can guarantee uniformly ultimately bounded. The simulation results show that the presented methods are effective.

Key words: Adaptive control, Neural network, Robust controller, Space manipulators