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| Received:December 13, 2014 Revised:April 05, 2015 |
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| DOI：10.7511/jslx201602002 |
| KeyWord:free-floating two-link flexible space manipulator singular perturbation theory augmented approach robust control joint motion control vibration optimal control |
| Author | Institution |
| 于潇雁 |
福州大学 机械工程及自动化学院, 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: |
| A robust joint motion control and vibration optimal control is addressed for a free-floating two-flexible-link space manipulator with unknown but bounded external disturbances and parameters.The dynamic model of a free-floating space manipulator with two flexible links is established by the momentum conservation and the Lagrange equations.Based on singular perturbation approach and choosing appropriate local coordinate frame,the interactions of rigid and flexible motion and the interactions of flexible motion of the two flexible links are decoupled,and a slow subsystem and a flexible-link fast subsystem are obtained.Then the corresponding controllers are proposed for the two subsystems,which are the augmented slow subsystem controller and the flexible link fast subsystem optimal controller.And a composite controller is combined with the two subsystem controllers to control the joint motion and the flexible links vibrations simultaneously.Numerical simulation demonstrates the proposed control algorithm' s efficiency.The virtue of this control scheme is that the linear position,linear velocity,linear acceleration of the base needn' t be measured directly. |
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