Robust Control of Free-floating Two-flexible-link Space Manipulator Based on Observer

Abstract

Abstract: The joint motion robust control and optimal flexible vibration control of a free-floating two-flexible-link space manipulator based on linear observers was discussed. The dynamic model of a free-floating space manipulator with two flexible links was established by the momentum conservation and the Lagrange equations. Based on singular perturbation approach and choosing appropriate local coordinate frame, a slow subsystem and a flexible-link fast subsystem were obtained. The corresponding controllers were proposed for the two subsystems, which was the linear observer based robust slow subsystem controller and the linear observer based flexible link fast subsystem optimal controller. Numerical simulation demonstrates the proposed control algorithm's efficiency.

Key words: two-flexible-link space manipulator, singular perturbation approach, robust control, linear observer, optimal flexible vibration control

CLC Number:

V448

Yu Xiaoyan, Chen Li. Robust Control of Free-floating Two-flexible-link Space Manipulator Based on Observer[J]. Journal of System Simulation, 2016, 28(7): 1520-1527.

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