Translated Title
Velocity observer based singular perturbation robust control and vibration suppression for a free-floating flexible space manipulator with unknown payload parameters and bounded disturbances
Translated Abstract
The robust control based on a velocity observer was introduced for a free-floating flexible space manipulator with unknown payload parameters and bounded disturbances.The dynamic model of the free-floating space manipulator with a flexible link was established by applying the momentum conservation principle and the Lagrange equations.The singular perturbation model of the flexible space manipulator system was obtained according to the two-time scale control theory,in which the system was decoupled into slow (rigid)and fast (flexible)subsystems.Then a composite controller consisting of a slow control component and a fast control component was proposed.A sliding observer based robust control algorithm was applied to control the slow subsystem with unknown payload parameters and bounded disturbances to track the desired trajectory.The fast controller was designed with the estimated velocity based on a linear observer to damp out the vibration of the flexible link using optimal linear quadratic regulator (LQR)method.Finally,a numerical simulation was carried out,which confirms the controller proposed was feasible and effective.The virtue of this control scheme is that the linear position,linear velocity,linear acceleration and angular velocity of the base,the angular velocities,angular accelerations of the joint as well as the derivative of the flexible vibration mode needn＇＇t be measured directly.
Translated Keyword
free-floating flexible space manipulator
robust control
singular perturbation approach
velocity ob-serve
Access Number
WF:perioarticalzdycj201514016
