Abstract: Anadaptivecontrolbasedondynamicsmodelforstabilizingthecouplingsystemwasproposed，forthecouplingsystemmaybeunstableduetothechangeinmasscharacteristicsandmomentumofthecouplingsystem.Thedynamicsofsystemwasmodelledandthevelocitiesofcouplingsystemwerederivedfromtheimpactmodel.Basedonthedynamicmodeldeveloped,thelinearfeedbackcontrollerwasdesigned.Becauseoftheuncertaintyonthedynamicparametersanddisturbance,thedynamicmodelwaslinearlyparametricwithrespecttoagroupofunknowndynamicparametersandunknowndisturbance.Then,theadaptivelinearfeedbackcontrollerwasdesigned.UsingathreeDOFplanarspacemanipulator,thenumericalsimulationwascarriedout.Thesimulationresultsconfirmthecontrollerisfeasibleandeffective.

Key words: Couplingsystem, ImpactdynamicsDisturbanceLinearization;Adaptivecontrol;InorbitcaptureSpacemanipulator