Hybrid Control Scheme of Coordinated Motion and Active Vibration Control for Free-Floating Space Flexible Manipulator with Parameter Uncertainty

HONG Zhao-bin;CHEN Li

Journal of Vibration and Shock ›› 2010, Vol. 29 ›› Issue (11) : 94-99.

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PDF(2260 KB)
Journal of Vibration and Shock ›› 2010, Vol. 29 ›› Issue (11) : 94-99.
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Hybrid Control Scheme of Coordinated Motion and Active Vibration Control for Free-Floating Space Flexible Manipulator with Parameter Uncertainty

  • HONG Zhao-bin; CHEN Li
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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.

Key words

free-floating space flexible manipulator / hybrid control / variable structure control / flexible vibration / virtual control force / parameter uncertainty

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HONG Zhao-bin;CHEN Li. Hybrid Control Scheme of Coordinated Motion and Active Vibration Control for Free-Floating Space Flexible Manipulator with Parameter Uncertainty[J]. Journal of Vibration and Shock, 2010, 29(11): 94-99
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