Abstract:In this paper, the real-time vibration suppression and augmented adaptive control of free-floating flexible space manipulator are studied. The dynamic equations of the system are developed by using the Lagrangian assumed modes methods. It is verified that the dynamic equation of the system can be linearly dependent on a group of inertial parameters. Based on the results and with the augmentation approach, an adaptive control of space flexible manipulator to track the desired trajectory is developed. Considering the dynamics of flexible subsystem, a control scheme is presented to suppress the vibration during the real-time operation. In particular, it doesn't require measuring the position, velocity nor acceleration of the base because of an effective exploitation of the particular property of the system dynamics. The numerical simulation is carried out, which confirms the controller proposed is feasible and effective.
洪昭斌;陈 力. 漂浮基柔性空间机械臂关节运动的拟增广自适应控制及柔性振动实时主动抑制[J]. , 2010, 29(1): 200-206.
HONG Zhao-bin;CHEN Li. Real-time Vibration Suppression and Augmented Adaptive Control of Free-Floating Space Flexible Manipulator with Unknown Parameters. , 2010, 29(1): 200-206.