Control of a Space Robot with Flexible Manipulator Using Generalized Decoupling Technique

Kayastha, Sharmila; Katupitiya, Javantha; Pearce, Garth

doi:10.1109/icras.2018.8443266

Cited by 3 publications

(1 citation statement)

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“…Kumar [38] developed a simplified model controller that only needs the space robot's base velocity and link parameters. Kayastha [39] adopted linear quadratic regulator (LQR) and model predictive control (MPC) algorithms to control the motion of a two-link flexible space robot system under external force. But, they are only for the space manipulator with flexible link.…”

Section: Introductionmentioning

confidence: 99%

Robust fuzzy sliding mode control and vibration suppression of free-floating flexible-link and flexible-joints space manipulator with external interference and uncertain parameter

Xie

Chen

2021

Robotica

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The flexibility of the free-floating flexible space manipulator system’s link and joint may affect the control accuracy and cause vibrations. We studied the dynamics modeling, joint trajectory tracking control, and vibration suppressing problem of free-floating flexible-link and flexible-joints space manipulator system with external interference and uncertain parameter. The system’s dynamic equations are established using linear momentum conservation, angular momentum conservation, assumed mode method, and Lagrange equation. Then, the system’s singular perturbation model is established, and a hybrid control is presented. For the slow subsystem, a robust fuzzy sliding mode control is proposed to realize the joint desired trajectory tracking. For the fast subsystem, a speed difference feedback control and a linear-quadratic optimal control are designed to suppress the vibration caused by the flexible joints and the flexible link separately. The simulation comparison experiments under different conditions are taken. The simulate results demonstrate the proposed hybrid control’s validity.

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Section: Introductionmentioning

confidence: 99%