Abstract: The hybrid control scheme is proposed to eliminate the flexible vibration of a free-floating space flexible manipulator while the robustness of Variable Structure Control (VSC) developed for coordinated motion is maintained. The VSC law alone, which is designed to track the desired trajectory of base’s attitude and joint angles, does not guarantee the stability of the flexible mode dynamics of the flexible link. In order to actively suppress the flexible vibration, hybrid trajectories for the VSC are generated using the virtual control force concept, so that the hybrid control scheme of space flexible manipulator can be designed. Simulation results confirm that the proposed hybrid control scheme can dominates the trajectory tracking of coordinated motion and actively suppress the vibration in the presence of parameter uncertainty.
洪昭斌;陈力. 参数不确定漂浮基柔性空间机械臂载体姿态、关节协调运动及柔性振动主动抑制的混合控制方案[J]. , 2010, 29(11): 94-99.
HONG Zhao-bin;CHEN Li. Hybrid Control Scheme of Coordinated Motion and Active Vibration Control for Free-Floating Space Flexible Manipulator with Parameter Uncertainty. , 2010, 29(11): 94-99.