Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this paper, a novel adaptive fuzzy neural network (FNN) control scheme is proposed for the trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of output constraints and input nonlinearities. The parametric uncertainties and external disturbances are also taken into the consideration. First, a model-based controller is designed by using the barrier Lyapunov function (BLF) to prevent the position tracking errors from violating the predefined output constraints. Then, an adaptive FNN controller is designed by using two FNNs to compensate for the lumped uncertainties and input nonlinearities, respectively. Rigorous theoretical analysis for the semiglobal uniform ultimate boundedness of the whole closed-loop system is provided. The proposed adaptive FNN controller can guarantee the position and velocity tracking errors converge to the small neighborhoods about zero, while ensuring the position tracking errors within the output constraints even in the presence of input nonlinearities. To the best of the authors’ knowledge, there are relatively few existing controllers can achieve such excellent control performance in the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control scheme.

由于空间操纵器在各种在轨服务任务中起着重要作用，因此它被认为是未来空间活动最有希望的技术之一。本文提出了一种新的自适应模糊神经网络（FNN）控制方案，该方案针对存在输出约束和输入非线性的姿态控制自由飞行空间机械手的轨迹跟踪控制。还考虑了参数不确定性和外部干扰。首先，通过使用障碍Lyapunov函数（BLF）设计基于模型的控制器，以防止位置跟踪错误违反预定义的输出约束。然后，通过使用两个FNN设计自适应FNN控制器来分别补偿总的不确定性和输入非线性。对整个闭环系统的半全局一致极限有界性进行了严格的理论分析。所提出的自适应FNN控制器可以确保位置和速度跟踪误差收敛到零附近的小邻域，同时即使在存在输入非线性的情况下，也可以确保在输出约束内实现位置跟踪误差。据作者所知，在相同条件下，能够获得如此出色的控制性能的现有控制器相对较少。数值仿真表明了所提出的控制方案的有效性和优越性。所提出的自适应FNN控制器可以确保位置和速度跟踪误差收敛到零附近的小邻域，同时即使在存在输入非线性的情况下，也可以确保在输出约束内实现位置跟踪误差。据作者所知，在相同条件下，能够获得如此出色的控制性能的现有控制器相对较少。数值仿真表明了所提出的控制方案的有效性和优越性。所提出的自适应FNN控制器可以确保位置和速度跟踪误差收敛到大约为零的小邻域，同时即使在存在输入非线性的情况下，也可以确保输出约束内的位置跟踪误差。据作者所知，在相同条件下，能够获得如此出色的控制性能的控制器相对较少。数值仿真表明了所提出的控制方案的有效性和优越性。