An approach to classification, analysis and feedback control of kinematic drift in free-floating manipulators

In this paper, a new design of smooth dynamic feedback is proposed that compensates for kinematic drift in motion of a nonholonomic system. The technique is applied to a space-based free-flying manipulator in order to compensate for attitude drift. The proposed drift compensation technique is based on our design of the smooth time-variant dynamic feedback for stabilization of a nonholonomic system. We also present a classification and analysis of various cases of the kinematic drift. Example and numerical simulation are provided for illustration