L2-gain Robust Control for Flexible Joints and Flexible Link Space Robot

doi:10.16182/j.issn1004731x.joss.201804029

Abstract

Abstract: The trajectory tracking and the double flexible vibration active suppression control for free-floating space robot with flexible-joints and flexible-link were proposed. The dynamic equation of the system was established according to system’s momentum conservation and Lagrange method. A singular perturbation model was established by integral manifold method, and the system was decomposed into a fast subsystem of flexible-joint which used the speed difference between the feedbacks of control law to suppress the elastic vibration of flexible-joints, a fast subsystemof flexible-link which designed optimal linear quadratic regulator (LQR) to damp out the vibration of the flexible manipulator and a slow subsystemwhich designed a robust controller to make the external disturbances have the performance of the L₂-gain of the system, that avoids to directly solve the HJI (Inequality Hamilton-Jacobi) inequality of large calculation. Numerical simulation results show that the proposed control algorithm is effective.

Key words: external disturbance, freefloating, space robot with flexible-joint and flexible-link, L₂-gain robust control, dual vibration grading suppression

CLC Number:

TP241

ZhangLijiao, Chen Li. L₂-gain Robust Control for Flexible Joints and Flexible Link Space Robot[J]. Journal of System Simulation, 2018, 30(4): 1448-1455.

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L₂-gain Robust Control for Flexible Joints and Flexible Link Space Robot

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