Translated Title

L2-gain Robust Control for Flexible Joints and Flexible Link Space Robot

Translated Abstract

The　trajectory　tracking　and　the　double　flexible　vibration　active　suppression　control　for　free-floating　space　robot　with　flexible-joints　and　flexible-link　were　proposed.The　dynamic　equation　of　the　system　was　established　according　to　system＇＇s　momentum　conservation　and　Lagrange　method.A　singular　perturbation　model　was　established　by　integral　manifold　method,and　the　system　was　decomposed　into　a　fast　subsystem　of　flexible-joint　which　used　the　speed　difference　between　the　feedbacks　of　control　law　to　suppress　the　elastic　vibration　of　flexible-joints,a　fast　subsystemof　flexible-link　which　designed　optimal　linear　quadratic　regulator　(LQR)　to　damp　out　the　vibration　of　the　flexible　manipulator　and　a　slow　subsystemwhich　designed　a　robust　controller　to　make　the　external　disturbances　have　the　performance　of　the　L2-gain　of　the　system,that　avoids　to　directly　solve　the　HJI　(Inequality　Hamilton-Jacobi)　inequality　of　large　calculation.Numerical　simulation　results　show　that　the　proposed　control　algorithm　is　effective.

Translated Keyword

dual vibration grading suppression
external disturbance
freefloating
L2-gain robust control
space robot with flexible-joint and flexible-link

Classification

TP241

Type

Project Name

Project No.

Access Number

WF:perioarticalxtfzxb201804029

Language

Chinese

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