采用模糊补偿滑模控制器的空间柔性机械臂振动抑制方法

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Abstract Space-flexible manipulators can be installed on the space station to assist astronauts in on-orbit maintenance, spacecraft rendezvous as well as docking, and space junk capture. Because of its slender structure, the space-flexible manipulator will vibrate in the process of moving, which will affect the operation's precision and flight safety. In order to reduce the vibration of space-flexible manipulators, fuzzy compensation sliding mode control strategy is proposed to control the rotating motion of space-flexible manipulators. The vibration is weakened indirectly by improving the rotation control precision of space-flexible manipulators. In this paper, the deformation of space-flexible manipulators is described based on the assumption mode method. The Lagrange principle is used to establish dynamic equations coupled with modal and angle which considers the two-dimensional deformation. Then, the universal approximation characteristic of fuzzy rules is used to identify and compensate for the uncertain components of dynamic models including flexible nonlinear terms and external disturbances. Then, according to the Lyapunov function, the control law and adaptive law of fuzzy compensation sliding mode control strategy are designed to ensure the closed-loop stability of space-flexible manipulators. Finally, the simulation and physical prototype control experiments of space-flexible manipulators are carried out. The experimental results show that the fuzzy compensation sliding mode control strategy can effectively improve the rotation control precision of space-flexible manipulators and indirectly reduce the vibration amplitude. Compared with the traditional sliding mode control strategy, the proposed control strategy can reduce the mean value of the absolute value of the angular tracking error by 17.86% and the standard deviation of the lateral acceleration by 31.91%.

Key words： Space-flexible manipulator Sliding mode control Fuzzy compensation Vibration suppression

Received: 11 May 2023 Published: 15 April 2024

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	Articles by authors
	SHANG Dongyang1
	LI Xiaopeng1
	YIN Meng2
	LI Fanjie1
	ZHOU Sainan1

Cite this article:

SHANG Dongyang1,LI Xiaopeng1,YIN Meng2, et al. Vibration suppression method for space-flexible manipulator using fuzzy compensation sliding mode controller[J]. JOURNAL OF VIBRATION AND SHOCK, 2024, 43(7): 175-185.

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http://jvs.sjtu.edu.cn/EN/ OR http://jvs.sjtu.edu.cn/EN/Y2024/V43/I7/175

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