This paper aims to address the tracking control problem for the multi‐joint manipulator on a space robot subject to model uncertainties and external disturbances. A Gauss‐Newton interactive optimization algorithm is used to obtain the desired joint angle for each joint. In order to formulate the optimization problem, the Denaait‐Hartenberg (D‐H) method is employed to describe the model of the multi‐joint manipulator. Subsequently, an adaptive controller is developed to achieve tracking control, where controller parameters updated in real time are introduced to handle the nondeterminacy of the multi‐joint manipulator. Moreover, a fuzzy control strategy is composed such that our designed controller is robust against the complex environment as well. The controller design is performed by means of the Lyapunov techniques. Meanwhile, its effectiveness is verified through numerical simulations. Finally, some concluding remarks close the paper.

中文翻译：

---

航天机器人多关节机械手的自适应最优跟踪控制

本文旨在解决受模型不确定性和外部干扰影响的空间机器人多关节机械手的跟踪控制问题。高斯牛顿交互式优化算法用于获得每个关节的所需关节角度。为了提出优化问题，采用了Denaait-Hartenberg（D-H）方法来描述多关节机械手的模型。随后，开发了一种自适应控制器来实现跟踪控制，其中引入了实时更新的控制器参数以处理多关节机械手的不确定性。此外，模糊控制策略的组成使得我们设计的控制器在复杂环境下也具有鲁棒性。控制器设计是通过Lyapunov技术进行的。与此同时，通过数值模拟验证了其有效性。最后，一些总结性发言结束了本文。