Gradient Descent Self-tuning Control of Flexible Space Manipulator After Capturing Operation

doi:10.16182/j.issn1004731x.joss.201805032

Abstract

Abstract: The flexible vibration is generated after all-flexible space manipulator capturing a satellite, and the collision leads to unsteadiness of system. For the unstable composite system, the self-turning control algorithm based on hybrid trajectory is designed in this paper. The theory of gradient descent is used for parameter adaptive rate design to realize the real time adjustment of the PID control parameters. A supervised controller is designed through Lyapunov function to generate the stability and H_∞ tracking characteristic of the system. The hybrid trajectory is generated based on the concept of virtual force, which is used to accomplish integrated control of joint movement and vibration abatement. At last, the effectiveness of the proposed control scheme is demonstrated through numerical simulation.

Key words: all-flexible space manipulator, capturing operation, hybrid trajectory, self-turning PID control

CLC Number:

TP241

Cheng Jing, Chen Li. Gradient Descent Self-tuning Control of Flexible Space Manipulator After Capturing Operation[J]. Journal of System Simulation, 2018, 30(5): 1869-1876.

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