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| Neural network adaptive backstepping control and double flexible vibration active hierarchical suppression of space robot with flexible-joint and flexible-link |
| Received:May 21, 2013 Revised:August 31, 2013 |
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| DOI：10.7511/jslx201404008 |
| KeyWord:space robot with flexible-joint and flexible-link Gaussian radial basis function neural network backstepping control algorithm joint flexibility compensating controller |
| Author | Institution |
| 梁捷 |
福州大学 机械工程及自动化学院, 福州 ;中国空气动力研究与发展中心, 绵阳 |
| 陈力 |
福州大学 机械工程及自动化学院, 福州 |
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| Abstract: |
| The flexibility of space robot system is mainly embodied in links of space robot and their connected hinge joints.For the reason of complexity of space robot system structure, researchers usually pay less attention on the system which both has flexible joint and link.So it's discussed in this paper for dynamics simulations, algorithm design of trajectory tracking control, and active suppression problem of joint and link double flexible vibration for space robot system with flexible-joint and flexible-link under the situation of parameter uncertain.Firstly, the dynamics equation of system is deduced by modeling multi-bodies dynamics method and combing with connatural dynamics characters of linear momentum and angular momentum of free-floating space robot.And on basis of above, as each joint hinge has strong flexibility in practical use of space robot, a joint flexibility compensation controller is introduced to solve such problem that application of traditional singular perturbation method is limited by joint flexibility, so mathematical model that be suitable for the design of control systems is established.Then using the mathematical model, a neural network adaptive control algorithm that based on the idea of backstepping in the slow subsystem is designed to compensate system parameter unknown and rotation error caused by flexible joint, thus system trajectory tracking performance is fulfilled.For the fast subsystem, a robust optimal control algorithm is presented to suppress the system double elastic vibration that caused by flexible joint and flexible link, thus the stability of the system is guaranteed.Finally, the availability of said designed control algorithm is testified by the simulation comparison experiment. |
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