Fuzzy neural network control of free-floating space robot based on observer

Uncertainty model and disturbances of free-floating space robot and situation of low velocity for joints motors are considered. Tachometers were difficult to satisfy signal request. A fuzzy basis function network control strategy of space robot base on velocity reconstructed was presented. Firstly, dynamic model of space robot was established, and then velocity signals were reconstructed by observer, nonlinear function of observer and controller are approximated by the fuzzy basis function network with study ability. Uncertainty and errors of system are compensated. Weights and the parameters can be adaptive tuned on-line without off-line learning phase. Simulation results show that the observer-based control strategy can achieve higher precision, and has important engineering value to space robots often working in low-velocity condition.