Fuzzy model-free adaptive vibration control for space manipulator collision process
PU Yuxue1,2, ZHOU Runrun1, CHEN Yan1, ZHANG Fang3
1.School of Civil Engineering, Hefei University of Technology, Hefei 230009, China;
2.Department of Aeronautics and Astronautics, Fudan University, Shanghai 200433, China;
3.State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Abstract：Space manipulator will face collision problems when performing operational tasks, such as active capture or passive collision, which will cause sudden change of instantaneous momentum of the manipulator, increase of elastic vibration of the manipulator rod, decrease of trajectory tracking accuracy, and even lead to instability of the space manipulator system. Space manipulator is a complex system with nonlinear and strong coupling, especially for collision process, it is difficult to accurately model the system. In order to suppress the vibration of space manipulator during collision, fuzzy-Model-free adaptive control (Fuzzy-MAFC) algorithm was proposed by combining Fuzzy strategy with model-free adaptive control. Based on the vibration displacement and velocity error of the manipulator, a fuzzy strategy was designed to self-adjust the step factor and weight factor of the model-free adaptive control, which solved the limitation of the traditional model-free adaptive control to the initial value of parameters, and realized the vibration adaptive control of space manipulator in the collision process. Simulation results show that the vibration suppression efficiency of fuzzy-model-free adaptive control is about 30% higher than that of traditional model-free adaptive control, which verifies the effectiveness of the algorithm.
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