Robust Coordinated Motion Control of Free-floating Space Robot with Flexible-link and Flexible-joints

Abstract

Abstract: Robust coordinated motion control and vibration hierarchical suppression of a free-floating space robot with one flexible link and two elastic revolute joints was proposed. The dynamical Lagrange equation was established by the momentum conservation. A singularly perturbed model was formulated, which consists of a slow subsystem and two fast subsystems. Based on the singularly perturbed model, a reduced-order controller was proposed, which consists of a robust slow control component and two fast control components. The virtue of this control scheme is that the linear position, linear velocity, linear acceleration of the base needn’t be measured directly. Numerical simulation demonstrates the proposed control algorithm’s efficiency.

Key words: free-floating flexible space robot, singular perturbation approach, robust control, vibration hierarchical suppression, flexible link, elastic joint

CLC Number:

TP241

Yu Xiaoyan, Chen Li. Robust Coordinated Motion Control of Free-floating Space Robot with Flexible-link and Flexible-joints[J]. Journal of System Simulation, 2015, 27(12): 3025-3031.

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