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| Motion adaptive sliding mode control and vibration active suppression of free-floating flexible-joint space robot |
| Received:May 14, 2012 Revised:August 30, 2012 |
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| DOI：10.7511/jslx201305009 |
| KeyWord:free-floating space robot flexible-joint singular perturbation uncertain parameter adaptive sliding mode |
| Author | Institution |
| 谢立敏 |
福州大学 机械工程及自动化学院, 福州 ;福建农林大学 机电工程学院, 福州 |
| 陈力 |
福州大学 机械工程及自动化学院, 福州 |
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| Abstract: |
| The dynamics modeling,motion trajectory tracking control algorithm design and flexible vibration suppression problem of free-floating flexible-joint space robot with uncertain parameters is discussed.Firstly,the system's dynamics is analyzed and the dynamic equation is formulated by incorporating system's linear momentum conservation,angular momentum conservation and the Lagrange equation.Then the system is decomposed into a slow subsystem (rigid motion part) and a fast subsystem (flexible motion part) based on singular perturbation method.For the slow subsystem,an adaptive sliding mode control algorithm is proposed.The algorithm,which is comprised of a sliding mode based equivalent control,an adaptive control and a PID feedback control,integrates the advantages of sliding mode control,adaptive algorithm and PID technology and covers their shortages as well.It can compensate the system's rotation error and uncertain parameters,improve the precision of the control system.For the fast subsystem,a speed difference based feedback control algorithm is proposed to suppress the vibration caused by the flexible-joints,guarantee the stability of the system.Finally,the simulation results validate the efficiency of the proposed hybrid control algorithm. |
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