The trajectory tracking problem of a free-floating manipulator with dynamical uncertainties and stochastic input disturbances is solved in this study. First, the free-floating manipulator is mapped to a conventional fixed base dynamically equivalent manipulator. Then, by using the well-known properties of a revolute joint manipulator and taking into account the random disturbances with unknown power spectral density in control inputs, an adaptive controller scheme is developed. The proposed technique uses the exponential practical stability concept which guarantees that the tracking error and its derivative converge to an arbitrarily small neighborhood of zero by appropriate tuning of the controller’s parameters. It is noteworthy that the proposed controller does not need any physical parameters of the robot. Simulation studies demonstrate the effectiveness and capability of the proposed method for trajectory tracking in the presence of unknown stochastic input disturbances and dynamical uncertainties.

本研究解决了具有动态不确定性和随机输入扰动的自由浮动机械手的轨迹跟踪问题。首先，将自由浮动操纵器映射到常规的固定基动态等效操纵器。然后，通过使用旋转关节机械手的众所周知的特性，并考虑控制输入中功率谱密度未知的随机干扰，开发了一种自适应控制器方案。所提出的技术使用指数实用稳定性概念，该概念通过适当调整控制器的参数来确保跟踪误差及其导数收敛到任意小的零邻域。值得注意的是，提出的控制器不需要机器人的任何物理参数。