Nonlinear robust adaptive control for free-floating flexible space manipulator system - Details

author：

Guo, Yishen (Guo, Yishen.) ^[1] (Scholars：郭益深) | Sun, Fuchun (Sun, Fuchun.) ^[2]

Indexed by：

EI Scopus PKU CSCD

Abstract：

The　coordinated　control　and　vibration　suppression　problems　of　free-floating　flexible　space　manipulator　system　with　external　disturbances　and　uncertain　or　unknown　parameters　are　discussed.　The　flexible　links　are　approximated　based　on　the　assumed　mode　method,　and　then　with　the　second　Lagrange　approach　and　the　linear　momentum　conservation,　the　dynamic　equations　of　free-floating　flexible　space　manipulator　system　are　derived.　Nonlinear　robust　control　and　nonlinear　robust　adaptive　control　schemes　are　proposed　for　coordinated　motion　of　the　free-floating　flexible　space　manipulator　system.　These　control　schemes　can　all　overcome　the　effect　of　external　disturbances　on　the　free-floating　flexible　space　manipulator　system　and　control　the　base　attitude　and　the　joints　to　complete　the　desired　coordinated　motion,　while　suppressing　flexible　vibration　of　the　links　efficiently.　In　addition,　the　nonlinear　robust　adaptive　control　scheme　can　also　solve　the　uncertain　or　unknown　problem　of　system　inertial　parameters.　Numerical　simulation　is　carried　out　to　verify　the　validity　and　feasibility　of　the　proposed　control　schemes.　©　2013　Journal　of　Mechanical　Engineering.

Keyword：

Adaptive control systems Flexible manipulators Robotic arms Robust control Spacecraft equipment Uncertainty analysis

Community：

[ 1 ] [Guo, Yishen]Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China
[ 2 ] [Guo, Yishen]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China
[ 3 ] [Sun, Fuchun]Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China