Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration

doi:10.16182/j.issn1004731x.joss.18-0198

Abstract

Abstract: The angle tracking and flexible vibration suppression integrated control for the two flexible links free-floating space robot with joint torque output dead-zone and external disturbance are discussed. The hybrid trajectory concept with rigid motion and flexible mode is introduced, and an adaptive control scheme of the integral sliding mode neural network based on the integration of motion and vibration is proposed. In case the slope and boundary of dead-zone is uncertain and the upper kind of the optimal approximation error is unknown, the compensation term of the scheme can eliminate the effect, and ensures the robustness of the rigid motion. Also, the scheme suppresses the vibration of the two links flexible actively to improve the tracking performance. Simulation results show that the scheme can achieve the integration control of the motion and vibration effectively.

Key words: two flexible links space robot, joint torque output dead-zone, integration control of motion and vibration, integral sliding mode neural network, flexible vibration suppression

CLC Number:

TP241

Huang Xiaoqin, Chen Li. Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration[J]. Journal of System Simulation, 2020, 32(3): 430-437.

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