Velocity observer based singular perturbation robust control and vibration suppression for a free-floating flexible space manipulator with unknown payload parameters and bounded disturbances
YU Xiao-yan，CHEN Li
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108,China
The robust control based on a velocity observer is proposed for a free-floating flexible space manipulator with unknown payload parameters and bounded disturbances.Firstly the dynamic model of a free-floating space manipulator with a flexible link is established by applying the momentum conservation and the Lagrange equations. Secondly singular perturbation model of the space flexible manipulator system is obtained by using two-time scale control theory, in which the system is decoupled into slow (rigid) and fast (flexible) subsystems. Then a composite controller which consists of a slow control component and a fast control component is proposed. A sliding observer based robust control algorithm is applied to control the slow subsystem with unknown payload parameters and bounded disturbances to track the desired trajectory. The fast controller is designed with the estimated velocity by linear observer to damp out the vibration of the flexible link using optimal Linear Quadratic Regulator (LQR) method. Finally the numerical simulation is carried out, which confirms the controller proposed is feasible and effective. The virtue of this control scheme is that the linear position, linear velocity, linear acceleration and angular velocity of the base, the angular velocities, angular accelerations of the joint as well as the derivative of the flexible vibration mode needn’t be measured directly.
于潇雁，陈 力. 参数不确定与有界干扰自由飘浮柔性空间机械臂基于速度观测器的奇异摄动鲁棒控制及振动抑制[J]. 振动与冲击, 2015, 34(14): 85-92.
YU Xiao-yan，CHEN Li . Velocity observer based singular perturbation robust control and vibration suppression for a free-floating flexible space manipulator with unknown payload parameters and bounded disturbances. JOURNAL OF VIBRATION AND SHOCK, 2015, 34(14): 85-92.
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